CN111392006A - Spiral propelling device of underwater robot - Google Patents
Spiral propelling device of underwater robot Download PDFInfo
- Publication number
- CN111392006A CN111392006A CN202010235716.5A CN202010235716A CN111392006A CN 111392006 A CN111392006 A CN 111392006A CN 202010235716 A CN202010235716 A CN 202010235716A CN 111392006 A CN111392006 A CN 111392006A
- Authority
- CN
- China
- Prior art keywords
- wall
- motor
- shell
- welded
- propulsion device
- 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.)
- Pending
Links
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
- 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
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/10—Casings or enclosures characterised by the shape, form or construction thereof with arrangements for protection from ingress, e.g. water or fingers
Abstract
The invention relates to the technical field of robots, in particular to a spiral propelling device of an underwater robot, which comprises a shell, wherein a buoyancy cabin is welded at the top of the shell, a rubber air bag is arranged at the top of the buoyancy cabin, an electric valve is welded at one side of the buoyancy cabin, a steel cylinder is arranged on the outer wall of one side of the shell, a steel cylinder valve is arranged at one end of the steel cylinder, a connecting pipe is arranged at one end, away from the steel cylinder, of the steel cylinder valve, one end, away from the steel cylinder valve, of the connecting pipe is connected with the electric valve, a motor is arranged inside the shell, and one end of an output shaft. According to the underwater robot, the rubber air bag, the steel cylinder and the electric valve are arranged, compressed carbon dioxide is filled in the steel cylinder, when the electric valve is opened, the compressed carbon dioxide enters the rubber air bag to expand the rubber air bag, and the expanded rubber air bag has large buoyancy force, so that the underwater robot can automatically float to the water surface when the electric power is insufficient.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a spiral propelling device of an underwater robot.
Background
An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. Underwater robots have become an important tool for the development of the ocean because of the harsh and dangerous underwater environment and the limited depth of human diving.
The invention relates to the technical field of robots, in particular to an underwater robot propulsion device and an underwater robot, which comprises a control unit, a remote control unit and a control unit, wherein the control unit is accommodated in a power chamber of the underwater robot propulsion device and is suitable for receiving remote control signals; the power plate type propulsion mechanism comprises two power plates which are suitable for reciprocating water back and forth to generate propulsion force; and the power control mechanism is positioned in the power chamber, is connected with the control unit and the power plate type propulsion mechanism, and is suitable for receiving a control signal sent by the control unit to drive the two power plates of the power plate type propulsion mechanism to move, namely controlling the propulsion speed of the power plate type propulsion mechanism.
Although the above-mentioned CN201710748965.2 patent can realize the propulsion action of the underwater robot, if the underwater robot is operated in deep water for a long time and cannot return to the water surface due to insufficient electric power, the underwater robot is submerged and lost, and thus there is a need to develop an underwater robot screw propulsion device.
Disclosure of Invention
The invention aims to provide a spiral propelling device of an underwater robot, which aims to solve the problem that the robot at the deep water part cannot return to the water surface and is lost when the electric quantity is insufficient.
The technical scheme of the invention is as follows: the utility model provides a spiral advancing device of underwater robot, includes the casing, the top welding of casing has the buoyancy cabin, and the top in buoyancy cabin is provided with the rubber air bag, the welding of one side in buoyancy cabin has electric valve, be provided with the steel bottle on the outer wall of one side of casing, and the one end of steel bottle is provided with the steel bottle valve, the one end that the steel bottle was kept away from to the steel bottle valve is provided with the connecting pipe, and the one end that the steel bottle valve was kept away from to the connecting pipe is connected with electric valve.
Further, a motor is arranged inside the shell, and one end of an output shaft of the motor is connected with a propeller through a flat key.
Further, the motor protective housing has been cup jointed to the external fixation of motor, and the welding has evenly distributed's fixed plate on the outer wall of motor protective housing, the one end and the casing welding that the motor protective housing was kept away from to the fixed plate, the one end welding of motor protective housing has most advanced.
Further, be provided with sealing device between the output shaft of motor and the motor protective housing, sealing device includes the seal cover, and the inside axle sleeve that is provided with of seal cover, the axle sleeve cup joints with the output shaft of motor, and the both ends of axle sleeve have cup jointed first bearing and second bearing respectively, be formed with the oil storage chamber between first bearing and the second bearing.
Furthermore, the outer wall of the sealing sleeve is welded with a mounting disc, mounting holes are uniformly distributed in the outer wall of one side of the mounting disc, and a sealing gasket is arranged on one side of the mounting disc.
Further, the welding has the oiling mouth on one side outer wall of seal cover, and the inner wall of oiling mouth is opened there is the internal thread, the oiling mouth has the rubber buffer through threaded connection.
Further, the welding has the mount pad on the one side outer wall of casing, and has the ribbon through bolted connection on the mount pad, the steel bottle passes through ribbon and mount pad fixed connection.
Furthermore, the bottom welding of casing has the extension board, and the bottom welding of extension board has the mounting panel, open the top of mounting panel has the connecting hole.
Furthermore, a connecting column is welded on the outer wall of one side of the shell, and one end, far away from the shell, of the connecting column is connected with a searchlight through a bolt.
Furthermore, the inner wall of the seal sleeve is in seamless sleeve joint with the first bearing and the second bearing, and the outer wall of the shaft sleeve is welded with two impellers.
The invention provides a screw propulsion device of an underwater robot through improvement, compared with the prior art, the screw propulsion device has the following improvements and advantages:
(1) through rubber air bag, steel bottle and the electrically operated valve that sets up, contain the compression carbon dioxide in the steel bottle, when the electrically operated valve was opened, the carbon dioxide of compression then can get into the rubber air bag, makes the inflation of rubber air bag, and the inflated rubber air bag has very big buoyancy, can make underwater robot automatic come-up to the surface of water when electric power is not enough.
(2) Through the sealing device who sets up, the motor is at underwater work, and the motor will damage if the short circuit of intaking leads to underwater robot to lose power and damage, uses sealing device, then can make the motor have water-proof effects, can adapt to underwater work.
(3) Through the oiling mouth that sets up, what the oil storage intracavity was packed into is the butter, need change the butter of oil storage intracavity at the motor work to the definite time, makes the water-proof effects of motor keep best, utilizes the oiling mouth then can play the effect of changing the butter.
(4) Through the searchlight that sets up, because deep light is very weak under water, the formation of image that the camera of robot can not be clear under the very weak condition of light utilizes the searchlight to carry out the compensation of light, sees the light that can make the bottom and strengthens to make the formation of image that the camera can be clear.
Drawings
The invention is further explained below with reference to the figures and examples:
FIG. 1 is a schematic view of the housing construction of the present invention;
FIG. 2 is a schematic view of the motor protective case structure of the present invention;
FIG. 3 is a schematic view of the seal of the present invention;
FIG. 4 is a schematic view of the bushing configuration of the present invention;
description of reference numerals:
the device comprises a shell body 1, a buoyancy cabin 2, a rubber air bag 3, an electric valve 4, a connecting pipe 5, a steel cylinder valve 6, a steel cylinder 7, a mounting seat 8, a binding belt 9, a fixing plate 10, a mounting plate 11, a support plate 12, a searchlight 13, a connecting hole 14, a connecting column 15, an impeller 16, a tip 17, an electric motor 18, a sealing device 19, a propeller 20, a motor protective shell 21, a sealing sleeve 22, a first bearing 23, a second bearing 24, a shaft sleeve 25, an oil storage cavity 26, a sealing gasket 27, a mounting disc 28, a mounting hole 29, an oil filling nozzle 30 and a rubber plug 31.
Detailed Description
The present invention will be described in detail with reference to fig. 1 to 4, and the technical solutions in the embodiments of the present invention will be clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The invention provides a spiral propelling device of an underwater robot through improvement, as shown in figures 1-4, the spiral propelling device comprises a shell 1, the shell 1 is hollow, a buoyancy cabin 2 is welded on the top of the shell 1, a groove is arranged in the buoyancy cabin 2, a rubber air bag 3 is arranged on the top of the buoyancy cabin 2, the rubber air bag 3 is hermetically installed with the buoyancy cabin 2, an electric valve 4 is welded on one side of the buoyancy cabin 2, the electric valve 4 is connected with a controller of the underwater robot, a steel cylinder 7 is arranged on the outer wall of one side of the shell 1, compressed carbon dioxide gas is filled in the steel cylinder 7, a steel cylinder valve 6 is arranged at one end of the steel cylinder 7, a connecting pipe 5 is arranged at one end of the steel cylinder valve 6 far away from the steel cylinder 7, one end of the connecting pipe 5 far away from the steel cylinder valve 6 is connected with the electric valve 4, the rubber air bag 3 is expanded by, so that the underwater robot can automatically float to the water surface under the condition of insufficient electric quantity.
Further, a motor 18 is arranged inside the housing 1, the model number of the motor 18 is DM07RB, one end of an output shaft of the motor 18 is connected with a propeller 20 through a flat key, and the propeller 20 is driven by the motor 18, so that the propulsion device has a power function under water.
Further, motor protective housing 21 has been cup jointed to motor 18's outside, motor protective housing 21 seals motor 18, it intakes to place motor 18, and the welding has evenly distributed's fixed plate 10 on motor protective housing 21's the outer wall, fixed plate 10 has threely, the one end that motor protective housing 21 was kept away from to fixed plate 10 welds with casing 1 for motor protective housing 21 is fixed, the one end welding of motor protective housing 21 has most advanced 17, most advanced 17 reduces the resistance of the water that advancing device received when aquatic motion.
Further, be provided with sealing device 19 between the output shaft of motor 18 and motor protective housing 21, sealing device 19 plays the sealed effect of output shaft of motor 18, sealing device 19 includes seal cover 22, there is the cavity in the seal cover 22, and seal cover 22 is inside to be provided with axle sleeve 25, axle sleeve 25 cup joints with the output shaft of motor 18 is sealed, and the both ends of axle sleeve 25 have cup jointed first bearing 23 and second bearing 24 respectively, be formed with oil storage chamber 26 between first bearing 23 and the second bearing 24, it can play sealing device 19 and have better sealed effect to be provided with the butter in the oil storage chamber 26.
Furthermore, a mounting plate 28 is welded on the outer wall of the sealing sleeve 22, mounting holes 29 are uniformly distributed on the outer wall of one side of the mounting plate 28, the sealing device is fixed with the motor protection shell 21 through the mounting holes 29, a sealing gasket 27 is arranged on one side of the mounting plate 28, and the sealing gasket 27 plays a role in sealing between the motor protection shell 21 and the mounting plate 28.
Further, the welding has oiling mouth 30 on the one side outer wall of seal cover 22, can change the inside butter of oil storage chamber 26 through oiling mouth 30, and the inner wall of oiling mouth 30 is opened there is the internal thread, and oiling mouth 30 has rubber buffer 31 through threaded connection, seals oiling mouth 30.
Further, the welding has mount pad 8 on the outer wall of one side of casing 1, and one side of mount pad 8 has the cambered surface, and has ribbon 9 through bolted connection on the mount pad 8, and ribbon 9 is the steel ribbon of taking the bolt, and steel bottle 7 passes through ribbon 9 and mount pad 8 fixed connection.
Furthermore, a support plate 12 is welded at the bottom of the shell 1, the number of the support plates 12 is two, a mounting plate 11 is welded at the bottom of the support plate 12, a connecting hole 14 is formed in the top of the mounting plate 11, and the underwater robot can be fixed with the underwater robot body through the connecting hole 14.
Furthermore, a connecting column 15 is welded on the outer wall of one side of the shell 1, one end, far away from the shell 1, of the connecting column 15 is connected with a searchlight 13 through a bolt, and the searchlight 13 can enable the underwater robot to perform light compensation when the light of deep water is weak.
Furthermore, the inner wall of the sealing sleeve 22 is in seamless sleeve joint with the first bearing 23 and the second bearing 24, two impellers 16 are welded on the outer wall of the shaft sleeve 25, and the impellers 16 can enable grease in the oil storage cavity 26 to have a gap between the sealing sleeve 25 and the sealing sleeve 22 towards one side close to the propeller 20.
The working principle of the invention is as follows: when the underwater robot is in water, the power supply of the motor 18 is switched on, the output shaft of the motor 18 rotates to drive the propeller 20 to rotate, so that the underwater robot advances, the output shaft of the motor 18 rotates to drive the shaft sleeve 25 in the sealing device 19 to rotate, the shaft sleeve 25 drives the blade 16 to rotate and stir butter in the oil storage cavity 26 to move to one side, a gap between the sealing sleeve 22 and the shaft sleeve 25 is subjected to oil pressure sealing, when the electric quantity of the underwater robot at deep water is insufficient and cannot reach the water surface, the controller of the underwater robot sends an execution command to the electric valve 4 to open the electric valve 4, carbon dioxide gas compressed in the steel cylinder 7 enters the buoyancy cabin 2 through the connecting pipe 5, so that the rubber gas bag 3 in the buoyancy cabin 2 expands to generate huge buoyancy, so that the underwater robot floats out of the water surface through the buoyancy, and when the butter in the sealing device 19 needs to be replaced, the oil injection nozzle 30 is screwed open through the rubber plug 31, waste butter in the oil storage cavity 26 is sucked out, and the replacement of the butter can be completed by connecting the rubber plug 31 through threads after new butter is filled.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides an underwater robot spiral advancing device which characterized in that: including casing (1), the top welding of casing (1) has buoyancy cabin (2), and the top in buoyancy cabin (2) is provided with rubber air bag (3), one side welding of buoyancy cabin (2) has electric valve (4), be provided with steel bottle (7) on one side outer wall of casing (1), and the one end of steel bottle (7) is provided with steel bottle valve (6), the one end that steel bottle (7) were kept away from in steel bottle valve (6) is provided with connecting pipe (5), and the one end that steel bottle valve (6) were kept away from in connecting pipe (5) is connected with electric valve (4).
2. An underwater robotic screw propulsion device according to claim 1, characterised in that: the motor (18) is arranged in the shell (1), and one end of an output shaft of the motor (18) is connected with a propeller (20) through a flat key.
3. An underwater robotic screw propulsion device according to claim 2, in which: the motor protection shell (21) is sleeved with the external fixing of the motor (18), the fixing plates (10) which are evenly distributed are welded on the outer wall of the motor protection shell (21), one end, away from the motor protection shell (21), of each fixing plate (10) is welded with the shell (1), and pointed ends (17) are welded at one end of the motor protection shell (21).
4. An underwater robotic screw propulsion device according to claim 2, in which: be provided with sealing device (19) between the output shaft of motor (18) and motor protective housing (21), sealing device (19) are including seal cover (22), and the inside axle sleeve (25) that is provided with of seal cover (22), axle sleeve (25) cup joint with the output shaft of motor (18), and the both ends of axle sleeve (25) have cup jointed first bearing (23) and second bearing (24) respectively, be formed with oil storage chamber (26) between first bearing (23) and second bearing (24).
5. An underwater robotic screw propulsion device according to claim 4, in which: the outer wall of the sealing sleeve (22) is welded with a mounting disc (28), mounting holes (29) which are uniformly distributed are formed in the outer wall of one side of the mounting disc (28), and a sealing gasket (27) is arranged on one side of the mounting disc (28).
6. An underwater robotic screw propulsion device according to claim 4, in which: the welding has oiling mouth (30) on one side outer wall of seal cover (22), and the inner wall of oiling mouth (30) is opened there is the internal thread, oiling mouth (30) have rubber buffer (31) through threaded connection.
7. An underwater robotic screw propulsion device according to claim 1, characterised in that: the welding has mount pad (8) on the one side outer wall of casing (1), and has ribbon (9) through bolted connection on mount pad (8), steel bottle (7) are through ribbon (9) and mount pad (8) fixed connection.
8. An underwater robotic screw propulsion device according to claim 1, characterised in that: the bottom welding of casing (1) has extension board (12), and the bottom welding of extension board (12) has mounting panel (11), open the top of mounting panel (11) has connecting hole (14).
9. An underwater robotic screw propulsion device according to claim 1, characterised in that: the outer wall of one side of the shell (1) is welded with a connecting column (15), and one end, far away from the shell (1), of the connecting column (15) is connected with a searchlight (13) through a bolt.
10. An underwater robotic screw propulsion device according to claim 4, in which: the inner wall of the sealing sleeve (22) is in seamless sleeve joint with the first bearing (23) and the second bearing (24), and the outer wall of the shaft sleeve (25) is welded with two impellers (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010235716.5A CN111392006A (en) | 2020-03-30 | 2020-03-30 | Spiral propelling device of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010235716.5A CN111392006A (en) | 2020-03-30 | 2020-03-30 | Spiral propelling device of underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111392006A true CN111392006A (en) | 2020-07-10 |
Family
ID=71427671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010235716.5A Pending CN111392006A (en) | 2020-03-30 | 2020-03-30 | Spiral propelling device of underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111392006A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201520406U (en) * | 2009-11-13 | 2010-07-07 | 中国舰船研究设计中心 | Emergency surfacing device for air-bag type submersible vehicle |
| CN103921916B (en) * | 2014-05-05 | 2016-04-13 | 李四维 | A kind of shaft mechanical seal assembly for underwater propeller |
| CN106143849A (en) * | 2016-09-28 | 2016-11-23 | 珠海蓝创科技有限公司 | A kind of tunnel thruster of band safeguard function |
| CN209972750U (en) * | 2019-05-14 | 2020-01-21 | 孙敬来 | Multipurpose modularization three-layer sealing submersible propeller |
-
2020
- 2020-03-30 CN CN202010235716.5A patent/CN111392006A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201520406U (en) * | 2009-11-13 | 2010-07-07 | 中国舰船研究设计中心 | Emergency surfacing device for air-bag type submersible vehicle |
| CN103921916B (en) * | 2014-05-05 | 2016-04-13 | 李四维 | A kind of shaft mechanical seal assembly for underwater propeller |
| CN106143849A (en) * | 2016-09-28 | 2016-11-23 | 珠海蓝创科技有限公司 | A kind of tunnel thruster of band safeguard function |
| CN209972750U (en) * | 2019-05-14 | 2020-01-21 | 孙敬来 | Multipurpose modularization three-layer sealing submersible propeller |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1962358A (en) | Modularized bionic robot fish | |
| CN107636939A (en) | A kind of propeller | |
| CN111746767A (en) | Bionic robotic fish based on bionic fin and pump combined propulsion | |
| CN113044192B (en) | Underwater robot generating power by using gravity and buoyancy and working method thereof | |
| CN104401473A (en) | Underwater acoustic glider | |
| CN112061349B (en) | Underwater robot | |
| CN212556731U (en) | Robot device for underwater lifesaving | |
| CN111186543B (en) | Underwater robot system based on 5G communication | |
| CN105292409A (en) | Multifunctional underwater moving device | |
| CN111392006A (en) | Spiral propelling device of underwater robot | |
| CN105501423A (en) | Novel underwater aerodone propeller propulsion unit | |
| JP2005270126A (en) | Diving toy | |
| CN206278250U (en) | A kind of integrated underwater propeller | |
| CN112498634A (en) | 1500-meter-level hybrid driving type underwater glider | |
| CN203996842U (en) | A kind of magnetic connects the stationary seal underwater working device driving | |
| CN116691972A (en) | Underwater robot protection control system and protection method | |
| CN213921440U (en) | Electric lifting device for outboard engine | |
| CN108343656B (en) | Deep sea self-adaptive clamping device and self-adaptive clamping method thereof | |
| CN112046715A (en) | Buoyancy adjusting device, underwater vehicle and oil injection method of buoyancy adjusting device | |
| CN212290269U (en) | Underwater robot | |
| CN115139709A (en) | Cabin body vertically distributed amphibious robot | |
| CN212637871U (en) | Bionic robotic fish based on bionic fin and pump combined propulsion | |
| CN114313177A (en) | Underwater autonomous robot | |
| CN217227884U (en) | Adjusting device for submerged floating in water | |
| CN210890083U (en) | Improved stern shaft sealing device for ship |
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 | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20220719 |
|
| AD01 | Patent right deemed abandoned |