CN112591051B - Movable guide rail suitable for underwater operation tool, underwater robot and operation method - Google Patents
Movable guide rail suitable for underwater operation tool, underwater robot and operation method Download PDFInfo
- Publication number
- CN112591051B CN112591051B CN202011538605.8A CN202011538605A CN112591051B CN 112591051 B CN112591051 B CN 112591051B CN 202011538605 A CN202011538605 A CN 202011538605A CN 112591051 B CN112591051 B CN 112591051B
- Authority
- CN
- China
- Prior art keywords
- axis module
- underwater
- guide rail
- underwater robot
- electric wet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- 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
Abstract
The invention provides a movable guide rail suitable for an underwater operation tool, comprising: the device comprises a Y-axis module, an X-axis module, an electric wet plugging socket and a magnet opening and closing device, wherein the Y-axis module is vertical to the X-axis module; the electric wet plugging and unplugging socket is arranged on the Y-axis module; when the X-axis module and the Y-axis module are used in a combined mode, the underwater moving guide rail suitable for the underwater operation tool can achieve two-dimensional motion in a plane; when the X-axis module is used independently, other underwater operation tools can be carried to realize linear motion; the magnet opening and closing device is arranged on the X-axis module. The invention solves the problem that the underwater operation tool needs to be assembled on the water surface and then launched into the water through adopting the underwater butt joint and carrying mode; the mobile rail system is powered through an electrical wet-plug connector while a communication channel is established.
Description
Technical Field
The invention relates to the technical field of underwater operation tools, in particular to a movable guide rail suitable for an underwater operation tool, an underwater robot and an operation method.
Background
There are many underwater working tools, and the most widely used is an extreme working robot working under water. 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 underwater robot can be used for safe search and rescue, pipeline inspection, detection of marine oil in ships, rivers and oceans and the like, and can be used in scientific research and teaching, underwater entertainment or energy industry.
In the prior art, when the underwater guide rail device is used for safe search and rescue, the guide rail device capable of realizing two-dimensional in-plane motion is required to be used for operation modes such as hole opening and cutting on the surface of a sunken ship, but underwater operation can be carried out only after the underwater guide rail device is assembled on the water surface; the underwater pipeline detection device is used for detecting the submarine pipeline, cannot solve the problem of carrying operation tools, and cannot perform underwater power supply communication.
Through search, patent document CN111038669B discloses a submarine pipeline detection type underwater robot for accurately detecting underwater petroleum pipelines. The underwater Robot (ROV) comprises an ROV body, a fixed pipeline clamp device and a chain type pipeline transverse detection device; the ROV body is used as a carrier to provide power for the clamp device and the detection device; the fixture device converts the rotation of the left support and the right support through the linear guide rail sliding block mechanism, so that the rotation of the clamping jaws on the supports is driven, the fixture device is finally converted into a clamping force for a pipeline, the ROV body is prevented from shaking and swinging, and the reliability of the fixture work is ensured. But also guarantee that chain formula pipeline lateral detection device provides stable detection environment. The flexible manipulator carries on the check out test set and detects the pipeline among the detection device, can carry out horizontal rotation type on the basis of detecting along the pipeline axial and detect. Meanwhile, the underwater robot can automatically attach to the pipeline wall by adopting a flexible manipulator structure, and is suitable for pipelines with most diameters. Obviously, the aforementioned technical solutions still fail to solve the above unsolved technical problems.
Therefore, there is a need to develop a guide rail apparatus that can be docked underwater and perform underwater power supply communication, and ensure that an underwater work tool can work smoothly underwater.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a movable guide rail suitable for an underwater operation tool, an underwater robot and an operation method.
According to the present invention there is provided a travelling rail for an underwater work tool, comprising: a Y-axis module, an X-axis module, an electric wet plugging socket and a magnet opening and closing device,
the Y-axis module is perpendicular to the X-axis module; the electric wet plugging and unplugging socket is arranged on the Y-axis module;
when the X-axis module and the Y-axis module are used in a combined mode, the underwater moving guide rail suitable for the underwater operation tool can achieve two-dimensional motion in a plane;
when the X-axis module is used independently, other underwater operation tools can be carried to realize linear motion;
the magnet opening and closing device is arranged on the X-axis module.
Preferably, the X-axis module is provided with an adsorption device consisting of a plurality of magnetic members.
Preferably, the magnet opening and closing devices are uniformly controlled through hydraulic transmission through a rotary handle plunger pump.
Preferably, the magnet starting and stopping device comprises a reversing gear assembly, a screw nut assembly, an active hydraulic cylinder, a passive hydraulic cylinder and an adsorption magnetic part, wherein the reversing gear assembly is arranged above the screw nut assembly; the active hydraulic cylinder is connected with the passive hydraulic cylinder.
Preferably, the magnet opening and closing device further comprises a T-shaped handle, and the T-shaped handle is connected with the reversing gear assembly.
According to the underwater robot provided by the invention, underwater operation is carried out by utilizing the movable guide rail suitable for underwater operation.
Preferably, the underwater operation tool comprises a manipulator and a hydraulic lock head, wherein the manipulator is driven to operate hydraulically, and the hydraulic lock head is in mechanical butt joint with a moving guide rail suitable for the underwater operation tool.
Preferably, the underwater robot further comprises an electric wet plugging plug, and the electric wet plugging plug is plugged into an electric wet plugging socket on the Y-axis module by the underwater robot to supply power for the underwater movable guide rail suitable for underwater operation work for communication.
According to the underwater operation method provided by the invention, the underwater operation is carried out by matching the underwater robot with the movable guide rail suitable for the underwater operation tool.
Preferably, the method comprises the following steps:
step 1: respectively installing a Y-axis module and an X-axis module in a distribution cabin, and hoisting and putting water by a water surface support mother ship;
step 2: the underwater robot carries the X-axis module to the surface of a target ship body through the hydraulic lock head, and the manipulator rotates the T-shaped handle to open the magnet opening and closing device;
and step 3: the underwater robot approaches the surface of the target ship body until the X-axis module is adsorbed on the target ship body;
and 4, step 4: the underwater robot is separated from the X-axis module, the Y-axis module is carried to the X-axis module through the hydraulic lock head, and the underwater robot approaches the surface of the target ship body, so that the X-axis module is in butt joint with the Y-axis module;
and 5: the manipulator inserts the electric wet plugging plug into the electric wet plugging socket and powers on the electromagnet until the Y-axis module is adsorbed on the X-axis module;
step 6: the underwater robot is separated from the Y-axis module and is suitable for the movable guide rail of an underwater operation tool to work.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can realize two-dimensional motion in a plane when the X axis and the Y axis are used in a combined way; the X-axis module can be used independently, and other working modules are carried to realize the linear movement of the working module.
2. The invention solves the problem of difficulty in carrying operating tools underwater by a mechanical butt joint moving guide rail system of the hydraulic lock on the underwater robot.
3. The invention adopts the mode that the electric wet plugging plug and the socket are adopted to supply power to the mobile guide rail system, and the communication channel is established, thereby solving the problem of underwater power supply communication of the mobile guide rail.
4. The invention solves the problem that the underwater operation tool needs to be assembled on the water surface and then launched into the water through adopting the underwater butt joint and carrying mode.
5. According to the underwater robot, the adsorption device consisting of the magnets is arranged on the X-axis module and is uniformly controlled by the rotating handle, so that the rotating operation of the manipulator in the underwater robot is realized, the adsorption function of the magnets at multiple points is controlled, and the problem of underwater fixation is solved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the present invention applied to an underwater robot;
FIG. 3 is a schematic structural view of a magnetic opening and closing device according to the present invention;
FIG. 4 is a schematic view of the X-axis module being attached to the surface of a ship hull according to the present invention;
FIG. 5 is a schematic view of the X-axis module and the Y-axis module of the present invention in docking relationship;
FIG. 6 is a schematic view of the Y-axis module being disengaged from the X-axis module in accordance with the present invention;
fig. 7 is a schematic view of the invention with the X-axis module disengaged from the hull surface.
In the figure:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1 and 3, the present invention provides a moving guide rail suitable for a underwater work tool, including: the underwater motion guide rail is suitable for underwater operation tools and can realize two-dimensional motion in a plane when the X-axis module 5 and the Y-axis module 3 are used in a combined mode; when the X-axis module 5 is used independently, other underwater tools can be carried to realize linear motion.
The Y-axis module 3 and the X-axis module 5 are arranged vertically; the electric wet plugging socket 6 is arranged on the Y-axis module 3; the magnet opening and closing device 9 is arranged on the X-axis module 5. The magnet opening and closing device 9 comprises a reversing gear assembly 902, a screw nut assembly 903, an active hydraulic cylinder 904, a passive hydraulic cylinder 905 and an adsorption magnetic part 906, wherein the reversing gear assembly 902 is arranged above the screw nut assembly 903; the active cylinder 904 is connected to the passive cylinder 905. The magnetic opening and closing device 9 further comprises a T-shaped handle 901, and the T-shaped handle 901 is connected with a reversing gear assembly 902.
An adsorption device consisting of a plurality of magnets is arranged on the X-axis module 5, and the opening and closing of the magnets are uniformly controlled by a rotating handle plunger pump through hydraulic transmission. The magnet opening and closing device (9) is uniformly controlled by a rotary T-shaped handle (901) through hydraulic transmission, the hydraulic transmission is that a driving hydraulic cylinder (904) and a driven hydraulic cylinder (905) are communicated to form a hydraulic loop, and the adsorption and closing of the adsorption magnetic part (906) and the underwater robot are controlled.
As shown in fig. 2, the invention also provides an underwater robot, which comprises an underwater robot body 1, a manipulator 2, an electric wet plugging plug 7 and a hydraulic lock 8, wherein the hydraulic lock 8 is mechanically butted with a movable guide rail suitable for an underwater operation tool, the electric wet plugging plug 7 is used for supplying power to the movable guide rail, and a communication channel is established.
As shown in fig. 4-7, the present invention also provides an underwater operation method, which comprises the following steps:
step 1: respectively installing the Y-axis module 3 and the X-axis module 5 in a distribution cabin, and hoisting and putting water by a water surface support mother ship;
step 2: the underwater robot carries the X-axis module 5 to the surface of a target ship body through the hydraulic lock 8, and the manipulator 2 rotates the T-shaped handle 901 to open the magnet opening and closing device 9;
and step 3: the underwater robot approaches the surface 4 of the target ship body until the X-axis module 5 is adsorbed on the target ship body;
and 4, step 4: the underwater robot is separated from the X-axis module 5, the Y-axis module 3 is carried to the X-axis module 5 through the hydraulic lock 8, and the underwater robot approaches to the surface 4 of the target ship body, so that the X-axis module 5 is in butt joint with the Y-axis module 3;
and 5: the manipulator 2 inserts the electrical wet plugging plug 7 into the electrical wet plugging socket 6, and the electromagnet is electrified until the Y-axis module 3 is adsorbed on the X-axis module 5;
step 6: the underwater robot is separated from the Y-axis module 3 and is suitable for the movable guide rail of an underwater operation tool to work.
The hydraulic lock 8 is a typical hydraulic operating tool, is matched with a butt plug for use, and has the characteristics of automatic fault release and overload limitation; the manipulator 2 is a tool for underwater robot operation, and is generally hydraulically driven and electrically controlled; the electric wet plugging and unplugging connector socket and plug are a structure for underwater electric signal and electric energy connection and transmission, and can be directly plugged and unplugged underwater.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the 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 application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (7)
1. A moving guide adapted for use with an underwater work tool, comprising: a Y-axis module (3), an X-axis module (5), an electric wet plugging and unplugging socket (6) and a magnet opening and closing device (9),
the Y-axis module (3) and the X-axis module (5) are vertically arranged;
the electric wet plugging and unplugging socket (6) is arranged on the Y-axis module (3);
when the X-axis module (5) and the Y-axis module (3) are used in a combined manner, the underwater moving guide rail suitable for the underwater operation tool can realize two-dimensional motion in a plane;
when the X-axis module (5) is used independently, other underwater operation tools can be carried to realize linear motion;
the magnet opening and closing device (9) is arranged on the X-axis module (5);
the magnet opening and closing device (9) comprises a T-shaped handle (901), a reversing gear assembly (902), a lead screw nut assembly (903), an active hydraulic cylinder (904), a passive hydraulic cylinder (905) and an adsorption magnetic part (906), wherein the T-shaped handle (901) is connected with the reversing gear assembly (902), and the reversing gear assembly (902) is arranged above the lead screw nut assembly (903); the active hydraulic cylinder (904) is connected with the passive hydraulic cylinder (905);
the magnet opening and closing device (9) is uniformly controlled by a rotary T-shaped handle (901) through hydraulic transmission, the hydraulic transmission is that a driving hydraulic cylinder (904) and a driven hydraulic cylinder (905) are communicated to form a hydraulic loop, and the adsorption and closing of the adsorption magnetic part (906) and the underwater robot are controlled.
2. The moving guide rail for underwater work tools according to claim 1, characterized in that the X-axis module (5) is equipped with an adsorption device consisting of a plurality of magnetic members.
3. An underwater robot for performing underwater work using the moving guide adapted for underwater work according to any one of claims 1 to 2.
4. Underwater robot according to claim 3, characterized by comprising a manipulator (2) and a hydraulic lock (8), wherein the manipulator (2) is hydraulically driven and the hydraulic lock (8) mechanically abuts against a moving guide rail adapted for the underwater working tool.
5. The underwater robot as claimed in claim 3, further comprising an electric wet plugging plug (7), wherein the underwater robot plugs the electric wet plugging plug (7) into the electric wet plugging socket (6) on the Y-axis module (3) to supply power for the underwater movable guide rail suitable for underwater operation.
6. An underwater operation method characterized by performing underwater operation using the underwater robot of any one of claims 3 to 5 in combination with the moving guide adapted for an underwater operation tool of any one of claims 1 to 2.
7. Method of operating underwater according to claim 6, characterized in that it comprises the following steps:
step 1: respectively installing the Y-axis module (3) and the X-axis module (5) in a distribution cabin, and hoisting and putting water into the distribution cabin by a water surface support mother ship;
step 2: the underwater robot carries the X-axis module (5) to the surface of a target ship body through the hydraulic lock head (8), and the manipulator (2) rotates the T-shaped handle (901) to open the magnet opening and closing device (9);
and step 3: the underwater robot approaches to the surface (4) of the target ship body until the X-axis module (5) is adsorbed on the target ship body;
and 4, step 4: the underwater robot is separated from the X-axis module (5), the Y-axis module (3) is conveyed to the X-axis module (5) through the hydraulic lock head (8), the underwater robot approaches to the surface (4) of the target ship body, and the X-axis module (5) is connected with the Y-axis module (3) in an abutting mode;
and 5: the manipulator (2) inserts the electric wet plugging plug (7) into the electric wet plugging socket (6) and powers on the electromagnet until the Y-axis module (3) is adsorbed on the X-axis module (5);
step 6: the underwater robot is separated from the Y-axis module (3) and is suitable for the moving guide rail of an underwater operation tool to work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011538605.8A CN112591051B (en) | 2020-12-23 | 2020-12-23 | Movable guide rail suitable for underwater operation tool, underwater robot and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011538605.8A CN112591051B (en) | 2020-12-23 | 2020-12-23 | Movable guide rail suitable for underwater operation tool, underwater robot and operation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112591051A CN112591051A (en) | 2021-04-02 |
| CN112591051B true CN112591051B (en) | 2021-11-12 |
Family
ID=75200386
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011538605.8A Active CN112591051B (en) | 2020-12-23 | 2020-12-23 | Movable guide rail suitable for underwater operation tool, underwater robot and operation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112591051B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114408137A (en) * | 2022-03-08 | 2022-04-29 | 深圳深海智人机器人技术有限公司 | Electro-hydraulic hybrid crawler-type multifunctional operation-level underwater robot and system |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2717567A1 (en) * | 1977-04-20 | 1978-10-26 | Zahnradfabrik Friedrichshafen | Workpiece carriage movable in two mutually perpendicular directions - uses manually set nuts stopped in any position in either direction on machine tool |
| US4696597A (en) * | 1985-05-29 | 1987-09-29 | General Coatings | Equipment for carrying out work, under dry conditions, on an underwater structure |
| US4784525A (en) * | 1986-09-29 | 1988-11-15 | Total Compagnie Francaise Des Petroles | Apparatus for use in installing a piece of equipment horizontally on a submerged unit and for removing it therefrom |
| DE29700721U1 (en) * | 1997-01-16 | 1997-10-09 | Bern Michael Dipl Ing | Closure system for waterproof gloves for direct or subsequent installation in dry suits with latex or neoprene cuffs |
| CN102170073A (en) * | 2011-01-21 | 2011-08-31 | 上海交通大学 | Underwater plug wet plugging-unplugging auxiliary connecting device special for underwater vehicle |
| CN102909721A (en) * | 2012-11-01 | 2013-02-06 | 李木 | Multi-track robot capable of locating and operating target object and control method thereof |
| CN103895841A (en) * | 2014-03-10 | 2014-07-02 | 哈尔滨工程大学 | Automatic lifting device for smart underwater robots |
| CN105015799A (en) * | 2014-04-30 | 2015-11-04 | 波音公司 | Mobile automated overhead assembly tool for aircraft structures |
| CN105234921A (en) * | 2015-11-19 | 2016-01-13 | 国网宁夏电力公司检修公司 | Indoor intelligent patrol robot system based on H-shaped combined rail |
| CN108820135A (en) * | 2018-06-25 | 2018-11-16 | 哈尔滨工程大学 | A kind of automatic mooring of unmanned formula emergency service ship and cable automatic connecting system |
| CN110026961A (en) * | 2019-04-02 | 2019-07-19 | 浙江工业大学 | The autonomous inspection of unmanned relay protection chamber and DTRF identify Manipulation of the machine people |
| CN110027673A (en) * | 2019-04-16 | 2019-07-19 | 上海交通大学 | A kind of adaptive traction climbing robot for the multi-functional processing of huge hull |
| CN110238814A (en) * | 2019-07-04 | 2019-09-17 | 北京史河科技有限公司 | A kind of detection robot |
| CN110891855A (en) * | 2017-06-02 | 2020-03-17 | 阿内莫伊海洋科技有限公司 | Transport means |
| CN111649208A (en) * | 2020-06-01 | 2020-09-11 | 中国船舶科学研究中心 | Digital acoustic equipment compatibility test platform based on motion control |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101196551A (en) * | 2007-05-10 | 2008-06-11 | 北京深浪电子技术有限公司 | Ground wire patrol checking robot of high voltage power line |
| CN101666661B (en) * | 2009-09-21 | 2011-03-16 | 上海交通大学 | Adjusting bracket supporting device with adjustable width |
-
2020
- 2020-12-23 CN CN202011538605.8A patent/CN112591051B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2717567A1 (en) * | 1977-04-20 | 1978-10-26 | Zahnradfabrik Friedrichshafen | Workpiece carriage movable in two mutually perpendicular directions - uses manually set nuts stopped in any position in either direction on machine tool |
| US4696597A (en) * | 1985-05-29 | 1987-09-29 | General Coatings | Equipment for carrying out work, under dry conditions, on an underwater structure |
| US4784525A (en) * | 1986-09-29 | 1988-11-15 | Total Compagnie Francaise Des Petroles | Apparatus for use in installing a piece of equipment horizontally on a submerged unit and for removing it therefrom |
| DE29700721U1 (en) * | 1997-01-16 | 1997-10-09 | Bern Michael Dipl Ing | Closure system for waterproof gloves for direct or subsequent installation in dry suits with latex or neoprene cuffs |
| CN102170073A (en) * | 2011-01-21 | 2011-08-31 | 上海交通大学 | Underwater plug wet plugging-unplugging auxiliary connecting device special for underwater vehicle |
| CN102909721A (en) * | 2012-11-01 | 2013-02-06 | 李木 | Multi-track robot capable of locating and operating target object and control method thereof |
| CN103895841A (en) * | 2014-03-10 | 2014-07-02 | 哈尔滨工程大学 | Automatic lifting device for smart underwater robots |
| CN105015799A (en) * | 2014-04-30 | 2015-11-04 | 波音公司 | Mobile automated overhead assembly tool for aircraft structures |
| CN105234921A (en) * | 2015-11-19 | 2016-01-13 | 国网宁夏电力公司检修公司 | Indoor intelligent patrol robot system based on H-shaped combined rail |
| CN110891855A (en) * | 2017-06-02 | 2020-03-17 | 阿内莫伊海洋科技有限公司 | Transport means |
| CN108820135A (en) * | 2018-06-25 | 2018-11-16 | 哈尔滨工程大学 | A kind of automatic mooring of unmanned formula emergency service ship and cable automatic connecting system |
| CN110026961A (en) * | 2019-04-02 | 2019-07-19 | 浙江工业大学 | The autonomous inspection of unmanned relay protection chamber and DTRF identify Manipulation of the machine people |
| CN110027673A (en) * | 2019-04-16 | 2019-07-19 | 上海交通大学 | A kind of adaptive traction climbing robot for the multi-functional processing of huge hull |
| CN110238814A (en) * | 2019-07-04 | 2019-09-17 | 北京史河科技有限公司 | A kind of detection robot |
| CN111649208A (en) * | 2020-06-01 | 2020-09-11 | 中国船舶科学研究中心 | Digital acoustic equipment compatibility test platform based on motion control |
Non-Patent Citations (1)
| Title |
|---|
| 水下焊接机器人变质心补偿控制;罗阳;《机器人》;20200325;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112591051A (en) | 2021-04-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2019165696A1 (en) | Deep-sea multifunctional long-term in-situ observation system | |
| CN108557040B (en) | But receive and release cabin formula multi-functional AUV relay station under water | |
| CN102522658A (en) | Electrical-connecting device for underwater automatic machine | |
| EP3434861B1 (en) | Portable subsea well service system | |
| US11648691B2 (en) | Adaptive tooling interface | |
| CN112591051B (en) | Movable guide rail suitable for underwater operation tool, underwater robot and operation method | |
| CN110682999B (en) | Automatic AUV (autonomous underwater vehicle) laying and recycling device | |
| CN110937087B (en) | Underwater AUV (autonomous underwater vehicle) laying and recycling butt joint device and butt joint method | |
| CN108820166A (en) | A kind of restructural radial type underwater robot | |
| CN109677574B (en) | Life support system for large depth underwater targets | |
| KR102040433B1 (en) | ROV(remotely Operated Vehicle) APPARATUS BASED ON PIPE FRAME CAPABLE OF USING BOTH WATER AND UNDERWATER | |
| US8464804B2 (en) | Robot for machining a part of structure under water | |
| CN112896471A (en) | Multifunctional suspended underwater robot and base station system thereof | |
| Guo et al. | Autonomous underwater vehicle docking system based on wired transmission | |
| CN217260616U (en) | Underwater structure detection ROV | |
| CN114620206B (en) | Underwater remote control robot for cutting submarine optical cable | |
| RU110066U1 (en) | REPLACEABLE ROBOTIC COMPLEX FOR CARRYING OUT MEASURING AND UNDERWATER TECHNICAL WORKS | |
| CN108492956B (en) | Magnetic butt joint device of ROV and operation tool library | |
| CN103754787A (en) | Umbilical cord capstan with life support system | |
| CN114437923A (en) | Deep-well water double-sample cylinder type pressure-maintaining sampling system | |
| CN113757192B (en) | Cable laying robot | |
| CN114408094B (en) | Outboard U-shaped mechanical arm of small unmanned ship | |
| CN212634515U (en) | Sea pipe cutting device and control panel for cutting saw | |
| Morinaga et al. | Development of a Docking Station ROV for Underwater Power Supply to AUVs | |
| KR20200049283A (en) | Apparatus for ballasting of model vessel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |