CN112441199A - Deeply buried tunnel detects with retractable wall adsorption equipment under water - Google Patents
Deeply buried tunnel detects with retractable wall adsorption equipment under water Download PDFInfo
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- CN112441199A CN112441199A CN202011172462.3A CN202011172462A CN112441199A CN 112441199 A CN112441199 A CN 112441199A CN 202011172462 A CN202011172462 A CN 202011172462A CN 112441199 A CN112441199 A CN 112441199A
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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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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Abstract
The invention discloses a telescopic underwater wall adsorption device for detecting a deep-buried tunnel, which comprises a motor cabin, wherein a cavity structure is arranged in the motor cabin, and the inside and the outside of the motor cabin are isolated by a sealing assembly in the motor cabin; a submersible motor; a speed reducer; the submersible motor and the speed reducer are formed in the motor cabin; the eddy current cover is formed at the front end of the motor cabin; the rotating blade is formed in the vortex cover; the output end of the speed reducer penetrates through the motor bin and the eddy current cover and is rotatably connected with the axis of the rotating blade; elevating gear, the shaping in the tail end in motor storehouse, including motor case, motor mounting, main frame and connecting block, through bolt fixed connection between the tail end in connecting block and motor storehouse, through vortex adsorption equipment, the rotating blade during operation, the inside water pressure of device is little, and outside water pressure is big to produce the pressure differential, can realize that equipment freely adsorbs on aquatic object.
Description
Technical Field
The invention belongs to the technical field of underwater operation equipment, and particularly relates to a telescopic underwater wall adsorption device for detecting a deep-buried tunnel.
Background
The method is characterized in that after the deep-buried long tunnel runs for a long time, the problems of cracks, dislocation, leakage, siltation and the like can occur, and in order to detect and inspect the long tunnel, the method for realizing the unmanned detection of the tunnel diseases by using an underwater robot becomes the mainstream;
the utility model with publication number CN210555522U discloses a device for full water tunnel detection operation, which comprises an underwater robot, an umbilical cable and a protection frame; the underwater robot is arranged in the protection frame, and an underwater camera and sonar equipment are arranged on the underwater robot; the protection frame is a cage-shaped structure with a conical head at the bottom, the underwater robot is fixed in the cage-shaped structure above the conical head, and the umbilical cable enters the cage-shaped structure from the top of the protection frame and is connected with the underwater robot. A circular turntable is arranged in the protection frame, an umbilical cable is wound on the turntable and is connected with the underwater robot through the turntable, and the underwater robot is communicated with the water surface through the umbilical cable and receives remote control signals of the water surface to control. The utility model provides a device for full water tunnel detection operation, the full water tunnel detection operation of specially adapted power station has changed the method that the back personnel got into the tunnel and detected in the past to draw water, has reduced personnel's risk, has improved the efficiency of operation simultaneously.
The underwater robot needs to have a staying capability on a detection surface. For underwater equipment with nearly zero buoyancy, unstable movement can be caused by the interference of water flow and movement near the wall surface, and the precise underwater fixed-point hovering difficulty is very high.
Disclosure of Invention
The invention aims to provide a telescopic underwater wall adsorption device for detecting a deep-buried tunnel, which has a simple structure and is convenient to operate and solves the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a bury tunnel detection with retractable wall adsorption equipment under water deeply, includes: the motor cabin, dive motor, speed reducer, vortex cover, rotating vane and elevating gear constitute.
The motor cabin is internally provided with a cavity structure, and the inside and the outside of the motor cabin are isolated by a sealing component;
further, the motor cabin provides the protection for the inner part on the one hand, also provides the basis for on the other hand with the connection of underwater operation equipment.
The submersible motor is fixedly arranged at one end inside the motor cabin;
the speed reducer is fixed on the output end of the submersible motor;
the submersible motor and the speed reducer are formed in the motor cabin;
furthermore, the speed reducer and the submersible motor are hermetically contained in the motor cabin, and the sealing effect of the motor cabin can avoid the liquid entering to cause electrical faults;
the eddy current cover is formed at the front end of the motor cabin;
furthermore, the vortex cover provides protection for the rotating blades on one hand, and provides a pressure acting surface for an external water body on the other hand so as to achieve the purpose of adsorption;
the rotating blade is formed in the vortex cover;
furthermore, the rotating blade, the speed reducer and the submersible motor are sequentially connected in an anti-torsion manner, so that power generated by the submersible motor can act on the rotating blade;
the output end of the speed reducer penetrates through the motor bin and the eddy current cover and is rotatably connected with the axis of the rotating blade;
the lifting device is formed at the tail end of the motor bin and comprises a motor box, a motor fixing piece, a main rack and a connecting block, and the connecting block is fixedly connected with the tail end of the motor bin through a bolt;
further, the lifting device drives the motor bin and the rotating blades at the top end of the motor bin to adsorb and position the areas of different depths through the arranged guide rods.
As a preferable scheme of the present invention, a transmission shaft is disposed between the rotor blade and the speed reducer, the transmission shaft and the motor compartment are installed in a rotating and sealing manner, and a portion of the transmission shaft located in the motor compartment is fixed in the motor compartment through a shaft sleeve and is installed in a rotating manner through a bearing and the shaft sleeve.
As a preferable scheme of the invention, the eddy current cover is fixedly arranged at the front end of the motor cabin through a fixing frame, the fixing frame is provided with a fixing ring sleeved at the front end of the motor cabin and fixing strips distributed on the outer circumferential surface of the fixing ring in a circumferential array, and the front end of each fixing strip is clamped and fixed with the eddy current cover.
As a preferable scheme of the present invention, the sealing assembly includes a first sealing group at a front end of the motor compartment and a second sealing group at a rear end of the motor compartment, the first sealing group includes a front outer seal and a front inner seal, the front outer seal is disposed in a central hole of the front inner seal in a sealing manner, and has a central hole for sealing and mounting the shaft component, the front inner seal is disposed in an opening at the front end of the motor compartment in a sealing manner, the second sealing group includes a rear inner seal and a rear outer seal, the rear outer seal is disposed in a central hole of the rear inner seal in a sealing manner, and the rear inner seal is disposed in an opening at the rear end of the motor compartment in a sealing manner.
As a preferable scheme of the present invention, a driving motor is fixedly installed in the motor box through a bolt, and an output end of the driving motor penetrates through an inner wall between the motor box and the motor fixing member and is located in the motor fixing member.
According to a preferable scheme of the invention, the interior of the motor fixing piece is of a cavity structure, the upper end surface of the motor fixing piece is provided with a square notch, one side of the square notch is hinged with a sealing plate through a hinge shaft, a sealing ring is arranged in front of the sealing plate and the square notch, the contact surface of the motor fixing piece and the main frame is provided with a circular notch a, and a coupler is arranged in the motor fixing piece.
As a preferred scheme of the present invention, the main frame includes a shaft seat a and a shaft seat b, the shaft seat a is provided with a circular notch b corresponding to the circular notch of the motor fixing member, one side of the shaft seat b close to the shaft seat a is provided with a ball bearing, three groups of circular through holes are arranged around the ball bearing on the shaft seat b, a ball screw is arranged between the shaft seat a and the shaft seat b, one side of the ball screw is rotatably connected with the shaft seat b through the ball bearing, the other side of the ball screw penetrates through the circular notch a and the circular notch b to be rotatably connected with a coupler, the ball screw is coaxially provided with a ball nut, the ball nut is sleeved with an annular block, one side of the annular block close to the shaft seat b is fixedly provided with three groups of guide rods, the bottoms of the three groups of guide rods penetrate through the shaft seat b through the, and one end penetrating out is fixedly provided with a connecting block.
The invention has the beneficial effects that:
(1) the traditional adsorption function is realized by installing an additional device or an adsorption device (comprising vacuum adsorption and magnetic adsorption), the energy loss is large, and the working mode is complicated.
(2) According to the robot, power is output through the driving motor, the ball screw is driven to rotate through the coupler, the ball screw is provided with the matched ball nut, the rotating work of the driving motor is changed into the moving work of the moving ball nut through the ball screw, the guide rod is driven to do linear reciprocating motion through the annular block and the guide rod which are arranged on the ball nut, the whole device is driven to be vertically retracted and extended, and the robot can conveniently perform adsorption detection at multiple fixed points.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the motor fixing member according to the present invention;
FIG. 3 is a schematic structural view of a shaft seat b of the present invention;
FIG. 4 is a schematic structural view of a shaft seat a of the present invention;
FIG. 5 is a schematic view of the internal structure of the mainframe of the present invention;
FIG. 6 is a schematic cross-sectional view of the motor compartment of the present invention;
FIG. 7 is a schematic view of a first seal set according to the present invention;
fig. 8 is a schematic structural diagram of a second seal set according to the present invention.
In the figure: 1. a motor compartment; 2. a submersible motor; 3. a speed reducer; 4. a vortex cover; 5. a rotor blade; 6. a lifting device; 61. a motor case; 62. a motor fixing member; 621. a square notch; 622. a sealing plate; 623. a seal ring; 624. a circular notch a; 63. a main frame; 631. a shaft seat a; 6311. a circular notch b; 632. a shaft seat b; 6321. a ball bearing; 6322. a circular through hole; 633. a ball nut; 634. a ring block; 635. a guide bar; 636. a ball screw; 64. connecting blocks; 65. a coupling; 7. a drive shaft; 8. a shaft sleeve; 9. a bearing; 10. a fixed mount; 101. a fixing ring; 102. a fixing strip; 11. a seal assembly; 111. a first seal group; 1111. front outer sealing; 1112. front inner sealing; 112. a second seal group; 1121. sealing the inner part; 1122. and (5) sealing the outer side.
Detailed Description
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Examples
Referring to fig. 1-8, a retractable underwater wall surface adsorption device for detecting a deep tunnel includes: the submersible motor comprises a motor cabin 1, a submersible motor 2, a speed reducer 3, a vortex cover 4, a rotating blade 5 and a lifting device 6.
The motor cabin 1 is internally provided with a cavity structure, and the inside and the outside of the motor cabin 1 are isolated from the inside of the motor cabin 1 through a sealing component 11;
further, the motor compartment 1 provides protection for the internal components on the one hand and also provides a basis for connection with underwater operation equipment on the other hand.
The submersible motor 2 is fixedly arranged at one end inside the motor cabin 1;
the speed reducer 3 is fixed on the output end of the submersible motor 2;
the submersible motor 2 and the speed reducer 3 are both formed in the motor cabin 1;
further, the speed reducer 3 and the submersible motor 2 are hermetically contained in the motor chamber 1, and the sealing effect of the motor chamber 1 can prevent liquid from entering to cause electrical faults;
the eddy current cover 4 is formed at the front end of the motor cabin 1;
further, the vortex cover 4 provides protection for the rotating blades 5 on one hand, and provides a pressure acting surface for an external water body on the other hand so as to achieve the purpose of adsorption;
the rotating blade 5 is formed in the vortex cover 4;
furthermore, the rotating blade 5, the speed reducer 3 and the submersible motor 2 are sequentially connected in an anti-torsion manner, so that power generated by the submersible motor 2 can act on the rotating blade 5;
the output end of the speed reducer 3 penetrates through the motor cabin 1 and the vortex cover 4 and is rotatably connected with the axis of the rotating blade 5;
the lifting device 6 is formed at the tail end of the motor cabin 1 and comprises a motor box 61, a motor fixing piece 62, a main frame 63 and a connecting block 64, and the connecting block 64 is fixedly connected with the tail end of the motor cabin 1 through bolts;
further, the lifting device 6 that sets up drives the area of the different degree of depth through the guide arm 635 that sets up and adsorbs the location to the rotating blade 5 at motor storehouse 1 and motor storehouse 1 top.
Specifically, a transmission shaft 7 is arranged between the rotating blade 5 and the speed reducer 3, the transmission shaft 7 and the motor bin 1 are installed in a rotating and sealing mode, the portion, located in the motor bin 1, of the transmission shaft 7 is fixed in the motor bin 1 through a shaft sleeve 8, and the transmission shaft 7 and the shaft sleeve 8 form a rotating installation through a bearing 9.
In this embodiment: the power transmission path between the rotor blade 5 and the reduction gear 3 is extended by the transmission shaft 7. The transmission shaft 7 and the motor bin 1 form a rotary seal installation, the part of the transmission shaft arranged in the motor bin 1 is fixedly arranged in the motor bin 1 through a shaft sleeve 8 and forms a rotary installation with the shaft sleeve 8 through a bearing 9, and the inner end part of the transmission shaft 7 and the shaft sleeve 8 form a dynamic seal. The outer end of the transmission shaft 7 is positioned outside the motor bin 1 and connected with the central hole of the rotating blade 5.
Specifically, the vortex cover 4 is fixedly arranged at the front end of the motor cabin 1 through a fixing frame 10, the fixing frame 10 is provided with a fixing ring 101 which is used for being sleeved at the front end of the motor cabin 1 and fixing strips 102 which are distributed on the outer circular surface of the fixing ring 101 in a circumferential array mode, and the front end of each fixing strip 102 is fixedly connected with the vortex cover 4 in a clamping mode.
In this embodiment: the vortex cover 4 is a flat cylindrical shell, and the vortex cover 4 is fixedly arranged at the front end of the motor cabin 1 through a fixing frame 10. The fixing frame 10 is provided with a fixing ring 101 for being sleeved at the front end of the motor cabin 1 and fixing strips 102 uniformly distributed on the outer circumferential surface of the fixing ring 101 along the circumferential direction, the number of the fixing strips 102 is preferably four, the front end of the fixing frame is fixedly connected with the vortex cover 4, and the fixing of the vortex cover 4 is realized.
Specifically, the sealing assembly 11 includes a first sealing group 111 at the front end of the motor compartment 1 and a second sealing group 112 at the rear end of the motor compartment 1, the first sealing group 111 includes a front outer seal 1111 and a front inner seal 1112, the front outer seal 1111 is sealed in a center hole of the front inner seal 1112, the front outer seal 1111 has a center hole for sealing and installing a shaft component, the front inner seal 1112 is sealed in a front end opening of the motor compartment 1, the second sealing group 112 includes a rear inner seal 1121 and a rear outer seal 1122, the rear outer seal 1122 is sealed in a center hole of the rear inner seal 1121, and the rear inner seal 1121 is sealed in a rear end opening of the motor compartment 1.
In this embodiment: in order to facilitate the installation and the disassembly of internal components, the front end and the rear end of the motor cabin 1 are mutually communicated to form a hollow structure body, and the sealing function is realized by isolating the inside and the outside of the motor cabin 1 through the sealing component 11 respectively.
Specifically, there is driving motor in the motor box 61 through bolt fixed mounting, and driving motor's output runs through the inner wall between motor box 61 and the motor mounting 62, and is located in the motor mounting 62.
In this embodiment: in order to prevent the liquid from entering the driving motor to cause electrical failure, a waterproof sealing motor box 61 is arranged outside the driving motor.
Specifically, the inside cavity structure that is of motor mounting 62, motor mounting 62's up end is opened has square notch 621, and one side of square notch 621 is articulated through the hinge pin to have a sealing plate 622, is provided with sealing washer 623 before sealing plate 622 and the square notch 621, and motor mounting 62 and main frame 63 contact surface are opened has circular notch a624, and the inside shaft coupling 65 that is provided with of motor mounting 62.
In this embodiment: the motor mounting 62 that sets up plays the effect of connecting motor case 61 and main frame 63, and the square notch 621 that sets up can make things convenient for the maintainer to overhaul inside, and the sealing washer 623 that sets up can adopt the rubber material, has good flexible elasticity, can seal the gap before square notch 621 and the closing plate 622.
Specifically, the main frame 63 includes a shaft seat a631 and a shaft seat b632, a circular notch b6311 corresponding to the circular notch a624 on the motor fixing member 62 is formed in the shaft seat a631, a ball bearing 6321 is disposed on one side of the shaft seat b632 close to the shaft seat a631, three groups of circular through holes 6322 are disposed around the ball bearing 6321 on the shaft seat b632, a ball screw 636 is disposed between the shaft seat a631 and the shaft seat b632, one side of the ball screw 636 is rotatably connected to the shaft seat b632 through the ball bearing 6321, the other side of the ball screw 636 penetrates through the circular notch a624 and the circular notch b6311 to be rotatably connected to the shaft coupling 65, a ball nut 633 is coaxially disposed on the ball screw 636, an annular block 634 is sleeved on the ball nut 633, three groups of guide rods 635 are fixedly mounted on one side of the annular block 634 close to the shaft seat b632, the bottoms of the three groups of guide rods penetrate through the three groups of circular.
In this embodiment: come the drive work through driving motor, interconnect driving motor and ball 636 through shaft coupling 65, driving motor output power, drive ball 636 through shaft coupling 65 and rotate, ball 636 is furnished with assorted ball nut 633, driving motor's rotation work becomes the removal work that removes ball nut 633 through ball 636, through the annular piece 634 and the guide arm 635 that set up on the ball nut 633, and then make guide arm 635 carry out straight reciprocating motion, just constituted the flexible function of straight line of telescopic link.
The working principle and the using process are as follows:
when the submersible motor is used, the submersible motor 2 drives the rotating blades 5 to rotate at a high speed to generate vortexes, the vortex centers of the vortexes are negative pressure, so that pressure difference is generated between the inside and the outside of the vortex cover 4, the vortex cover 4 is a flat cylindrical shell, the vortex cover 4 is fixedly arranged at the front end of the motor cabin 1 through the fixing frame 10, the fixing frame 10 is provided with a fixing ring 101 which is sleeved at the front end of the motor cabin 1 and fixing strips 102 which are uniformly distributed on the outer circumferential surface of the fixing ring 101 along the circumferential direction, the number of the fixing strips 102 is preferably four, the front end of the fixing strip is fixedly connected with the vortex cover 4, the fixing of; driving motor output power, drive ball 636 through shaft coupling 65 again and rotate, ball 636 is furnished with assorted ball nut 633, driving motor's rotation work becomes the removal work that removes ball nut 633 through ball 636, through the annular piece 634 and the guide arm 635 that set up on ball nut 633, and then make guide arm 635 carry out straight reciprocating motion, drive whole device and realize vertical receiving and releasing, the absorption of the many fixed points of the robot of being convenient for detects.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (7)
1. The utility model provides a bury tunnel detection with retractable wall adsorption equipment under water which characterized in that includes:
the motor cabin (1), the interior of the motor cabin (1) is of a cavity structure, and the interior and exterior of the motor cabin (1) are isolated by a sealing component (11) in the motor cabin (1);
the submersible motor (2) is fixedly arranged at one end inside the motor cabin (1);
the speed reducer (3) is fixed on the output end of the submersible motor (2);
the submersible motor (2) and the speed reducer (3) are both formed in the motor cabin (1);
the eddy current cover (4) is formed at the front end of the motor cabin (1);
the rotating blade (5) is formed in the vortex cover (4);
the output end of the speed reducer (3) penetrates through the motor bin (1) and the eddy current cover (4) and is rotatably connected with the axis of the rotating blade (5);
elevating gear (6), the shaping in the tail end in motor storehouse (1), including motor case (61), motor mounting (62), main frame (63) and connecting block (64), pass through bolt fixed connection between the tail end in connecting block (64) and motor storehouse (1).
2. The retractable underwater wall surface adsorption device for detecting the deep-buried tunnel according to claim 1, characterized in that: rotating blades (5) with be provided with transmission shaft (7) between speed reducer (3), transmission shaft (7) with constitute rotary seal installation between motor storehouse (1), transmission shaft (7) are located the part in motor storehouse (1) is fixed through axle sleeve (8) in motor storehouse (1) to through bearing (9) with axle sleeve (8) constitute and rotate the installation.
3. The retractable underwater wall surface adsorption device for detecting the deep-buried tunnel according to claim 1, characterized in that: vortex cover (4) are fixed to be set up through mount (10) the front end of motor storehouse (1), mount (10) have be used for the suit at the solid fixed ring (101) of motor storehouse (1) front end and along the circumference array distribution in gu the fixed strip (102) of solid fixed ring (101) outer disc, the front end of fixed strip (102) with vortex cover (4) joint is fixed.
4. The retractable underwater wall surface adsorption device for detecting the deep-buried tunnel according to claim 1, characterized in that: the sealing assembly (11) comprises a first sealing group (111) at the front end of the motor cabin (1) and a second sealing group (112) at the rear end of the motor cabin (1), wherein the first sealing group (111) comprises a front outer seal (1111) and a front inner seal (1112), the front outer seal (1111) is arranged in a sealing mode in a central hole of the front inner seal (1112), the front outer seal (1111) is provided with a central hole for shaft parts to be mounted in a sealing mode, the front inner seal (4) is arranged in a sealing mode in a front end opening of the motor cabin (13), the second sealing group (112) comprises a rear inner seal (1121) and a rear outer seal (1122), the rear outer seal (1122) is arranged in a sealing mode in a central hole of the rear inner seal (1121), and the rear inner seal (1121) is arranged in a sealing mode in a rear end opening of the motor cabin (1).
5. The retractable underwater wall surface adsorption device for detecting the deep-buried tunnel according to claim 1, characterized in that: a driving motor is fixedly installed in the motor box (61) through bolts, and the output end of the driving motor penetrates through the inner wall between the motor box (61) and the motor fixing piece (62) and is located in the motor fixing piece (62).
6. The retractable underwater wall surface adsorption device for detecting the deep-buried tunnel according to claim 1, characterized in that: the motor fixing piece (62) is internally of a cavity structure, a square notch (621) is formed in the upper end face of the motor fixing piece (62), a sealing plate (622) is hinged to one side of the square notch (621) through a hinge shaft, a sealing ring (623) is arranged in front of the sealing plate (622) and the square notch (621), a circular notch a (624) is formed in the contact face of the motor fixing piece (62) and the main frame (63), and a coupler (65) is arranged inside the motor fixing piece (62).
7. The retractable underwater wall surface adsorption device for detecting the deep-buried tunnel according to claim 6, wherein: main frame (63) includes axle bed a (631) and axle bed b (632), open on axle bed a (631) have with corresponding circular notch b (6311) of circular notch (624) on motor mounting (62), axle bed b (632) are close to one side of axle bed a (631) is provided with ball bearing (6321), it is provided with three circular perforating hole of group (6322) all around to lie in ball bearing (6321) on axle bed b (632), be provided with ball screw (636) between axle bed a (631) and axle bed b (632), one side of ball screw (631) is passed through ball bearing (6321) is rotated with axle bed b (632) and is connected, the opposite side of ball screw (631) runs through circular notch a (624) and circular notch b (6311) and shaft coupling (65) rotation connection, be provided with ball nut (633) on ball screw (631), ball nut (633) are gone up to have cup jointed annular piece (634), one side fixed mounting that annular piece (633) are close to axle bed b (632) has three groups of guide arms (635), three groups the bottom of guide arm (635) is through three circular perforating holes (6322) of group and is run through axle bed b (632), and the one end fixed mounting who runs through has connecting block (64).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011172462.3A CN112441199A (en) | 2020-10-28 | 2020-10-28 | Deeply buried tunnel detects with retractable wall adsorption equipment under water |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011172462.3A CN112441199A (en) | 2020-10-28 | 2020-10-28 | Deeply buried tunnel detects with retractable wall adsorption equipment under water |
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| CN112441199A true CN112441199A (en) | 2021-03-05 |
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| CN202011172462.3A Pending CN112441199A (en) | 2020-10-28 | 2020-10-28 | Deeply buried tunnel detects with retractable wall adsorption equipment under water |
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|---|---|---|---|---|
| CN113371163A (en) * | 2021-08-16 | 2021-09-10 | 东南大学 | Underwater detection and disposal robot for water delivery tunnel and use method of underwater detection and disposal robot |
| CN113371163B (en) * | 2021-08-16 | 2021-11-05 | 东南大学 | Underwater detection and disposal robot for water delivery tunnel and use method of underwater detection and disposal robot |
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Application publication date: 20210305 |