CN117208175A - Underwater robot - Google Patents
Underwater robot Download PDFInfo
- Publication number
- CN117208175A CN117208175A CN202311320830.8A CN202311320830A CN117208175A CN 117208175 A CN117208175 A CN 117208175A CN 202311320830 A CN202311320830 A CN 202311320830A CN 117208175 A CN117208175 A CN 117208175A
- Authority
- CN
- China
- Prior art keywords
- gear
- housing
- connecting pipe
- gas reactor
- trigger
- 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.)
- Granted
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 238000007789 sealing Methods 0.000 claims abstract description 15
- 230000001960 triggered effect Effects 0.000 claims abstract description 11
- 239000011257 shell material Substances 0.000 description 25
- 239000013535 sea water Substances 0.000 description 13
- 238000004140 cleaning Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 5
- 230000007257 malfunction Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 235000015170 shellfish Nutrition 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Landscapes
- Toys (AREA)
Abstract
Description
技术领域Technical field
本发明涉及机器人技术领域,具体是涉及一种水下机器人。The invention relates to the field of robot technology, and in particular to an underwater robot.
背景技术Background technique
为了延长船舶的使用寿命,保证船舶的经济及安全运行,船舶必须定期进坞进行检修,市场上船体表面清刷主要分为坞内清刷和水下清刷两类。坞内清刷普遍的工作流程是万吨巨轮船体的部分防腐漆被海水腐蚀掉后,拉进船坞,工人站在几十米的高空车上拿着专用设备,用铜矿渣为锈迹斑斑的船体除锈,现场灰尘很大,噪声刺耳,工作环境恶劣。而人工水下清刷就是潜水员下水进行清洗,效率很低很费力,花费成本极高,又具有较高风险,而且锈渣会对海水造成污染。目前利用水下机器人进行船底探伤、常规性检测以及进行清洗就成为人们的首选。现有的水下机器人大多结构复杂,功能单一,可操作性不强。In order to extend the service life of the ship and ensure its economical and safe operation, the ship must be docked regularly for maintenance. The hull surface cleaning on the market is mainly divided into two categories: in-dock cleaning and underwater cleaning. The common work process of cleaning in the dock is that after part of the anti-corrosion paint on the hull of a 10,000-ton ship is corroded by sea water, it is pulled into the dock. Workers stand on a high-altitude vehicle of tens of meters with special equipment and use copper slag to remove the rust. The hull was rust-removed. The site was very dusty, the noise was harsh, and the working environment was harsh. Manual underwater cleaning requires divers to go into the water to clean, which is very inefficient, laborious, extremely costly, and carries high risks, and the rust residue will pollute the seawater. At present, the use of underwater robots for ship bottom flaw detection, routine inspection and cleaning has become people's first choice. Most of the existing underwater robots have complex structures, single functions, and poor operability.
中国专利CN209870691 U公开了一种水下机器人,包括机器人本体,机器人本体包括运动装置、清洁装置和动力装置,运动装置包括环绕在履带传动轮上的履带,水下机器人的运动主要靠安装在机器人左右两侧的履带的转动来完成移动,两侧履带主要的外壳材料为铝合金,这种材料比较轻便,履带内部含有一块一块的磁铁用于吸附,随着履带的转动来带动机器人的移动。履带的上方通过安装轴安装有动力装置、清洁装置和给排装置,动力装置包括驱动履带转动的第一动力装置和驱动清洁装置工作的第二动力装置,清洁装置包括急回装置和清扫装置,急回装置为通过偏置曲柄滑块机构与机器人本体端部连接的贝类铲除器,清扫装置包括设置在机器人本体底部的一组毛刷清扫器5,毛刷清扫器的排料口连接有设置在机器人本体中部的垃圾收集装置,垃圾收集装置用于将过滤的杂物收集并储存,并可拆卸替换。Chinese patent CN209870691 U discloses an underwater robot, which includes a robot body. The robot body includes a moving device, a cleaning device and a power device. The moving device includes crawler tracks surrounding the crawler drive wheels. The movement of the underwater robot is mainly driven by the movement of the robot. The movement is completed by the rotation of the crawlers on the left and right sides. The main shell material of the crawlers on both sides is aluminum alloy. This material is relatively lightweight. The interior of the crawler tracks contains magnets for adsorption. The rotation of the crawlers drives the robot to move. A power device, a cleaning device and a supply and discharge device are installed above the crawler track through a mounting shaft. The power device includes a first power device that drives the crawler track to rotate and a second power device that drives the cleaning device. The cleaning device includes an emergency return device and a cleaning device. The emergency return device is a shellfish scraper connected to the end of the robot body through an offset crank slider mechanism. The cleaning device includes a set of brush cleaners 5 arranged at the bottom of the robot body. The discharge port of the brush cleaner is connected with A garbage collection device is provided in the middle of the robot body. The garbage collection device is used to collect and store filtered debris and is removable and replaceable.
上述方案能对船舶进行高效清洗,但是在机器人发生意外时,通过感应器程序自动断电并弹出气囊要种依赖于电路程序,即机器人的感应器程序即相应电器元件必须保证不能出现故障,在船坞中若对应程序和电路发生故障,对于机器人寻回尚有希望,若时在海洋中做探测用,机器人在深海中同样发生了故障时,机器人必然会沉入海底,无法寻回,成本较高。The above solution can efficiently clean the ship, but when an accident occurs to the robot, the automatic power-off and pop-up of the airbag through the sensor program depends on the circuit program, that is, the robot's sensor program, that is, the corresponding electrical components, must ensure that there is no malfunction. If the corresponding program and circuit malfunctions in the dock, there is still hope for the robot to be recovered. If it is used for detection in the ocean and the robot also malfunctions in the deep sea, the robot will inevitably sink to the bottom of the sea and cannot be retrieved, and the cost will be relatively high. high.
发明内容Contents of the invention
针对上述问题,提供一种水下机器人,当机器人出现问题时,机器人便会失去控制并开始下沉,由于密封仓内部在下潜的过程中会存有压载水,为了使得机器人能快速上浮还需要将密封仓内的水排出,当机器人开始下沉,触发装置处的压力逐渐上升,当海水的压力到达预设压力时,触发装置被触发,触发装置将气体反应器激活,气体反应器产生气体,气体通过第一连接管进入到密封仓内,密封仓中的压载水被气体挤出,如此密封仓内整体重量降低,随后传动装置将气体泵入气囊中,气囊弹出带动机器人浮出水面,使得机器人能在出现问题后快速浮出水面,同时避免了使用电子元件导致的安全装置无法正常运行的情况。In response to the above problems, an underwater robot is provided. When a problem occurs with the robot, the robot will lose control and start to sink. Since there will be ballast water inside the sealed chamber during the dive, in order to allow the robot to float up quickly and return The water in the sealed compartment needs to be drained. When the robot starts to sink, the pressure at the trigger device gradually rises. When the pressure of the seawater reaches the preset pressure, the trigger device is triggered. The trigger device activates the gas reactor, and the gas reactor generates Gas enters the sealed chamber through the first connecting pipe, and the ballast water in the sealed chamber is squeezed out by the gas. In this way, the overall weight of the sealed chamber is reduced. Then the transmission device pumps the gas into the air bag, and the air bag pops up to drive the robot to surface. The surface of the water allows the robot to quickly surface after a problem occurs, while avoiding the situation where the safety device cannot operate properly due to the use of electronic components.
为解决现有技术问题,本发明提供一种水下机器人,包括外壳和安全装置;安全装置包括触发装置、气体反应器、密封仓、第一连接管、传动装置和气囊;触发装置设置在外壳上,触发装置在预设压力下能被触发;气体反应器设置在外壳内,触发装置与气体反应器连接,触发装置被触发后能将气体反应器启动;密封仓固定设置在外壳的侧壁上,密封仓的侧壁上开设有排水口;第一连接管的两端分别与密封仓和气体反应器连接,气体反应器反应产生的气体通过第一连接管进入密封仓内;气囊固定设置在外壳的上部;传动装置设置在第一连接管上,密封仓内的水排出后,第一连接管驱动传动装置将气体反应器产生的气体泵入气囊。In order to solve the existing technical problems, the present invention provides an underwater robot, including a shell and a safety device; the safety device includes a trigger device, a gas reactor, a sealed compartment, a first connecting pipe, a transmission device and an air bag; the trigger device is arranged on the shell On the top, the trigger device can be triggered at a preset pressure; the gas reactor is arranged in the shell, and the trigger device is connected to the gas reactor. After the trigger device is triggered, the gas reactor can be started; the sealing chamber is fixedly installed on the side wall of the shell On the top, a drainage outlet is provided on the side wall of the sealed compartment; both ends of the first connecting pipe are connected to the sealed compartment and the gas reactor respectively, and the gas generated by the reaction of the gas reactor enters the sealed compartment through the first connecting pipe; the air bag is fixedly installed In the upper part of the shell, the transmission device is arranged on the first connecting pipe. After the water in the sealed chamber is discharged, the first connecting pipe drives the transmission device to pump the gas generated by the gas reactor into the air bag.
优选的,触发装置包括触发块、按钮和保险装置;触发块沿外壳的长度方向滑动设置在外壳的侧壁上,触发块贯穿于外壳的侧壁;按钮设置在外壳的内部,按钮位于触发块端部的一侧,按钮与气体反应器连接并能将气体反应器触发,触发块能将按钮触发;保险装置设置在触发块上,保险装置在外部压力没有达到预设压力时对触发块进行限制。Preferably, the trigger device includes a trigger block, a button and a safety device; the trigger block is slidably arranged on the side wall of the housing along the length direction of the housing, and the trigger block penetrates the side wall of the housing; the button is arranged inside the housing, and the button is located on the trigger block On one side of the end, the button is connected to the gas reactor and can trigger the gas reactor, and the trigger block can trigger the button; the safety device is set on the trigger block, and the safety device activates the trigger block when the external pressure does not reach the preset pressure. limit.
优选的,保险装置包括保险杆、第一连杆、卡接架、第一卡接槽、第二卡接槽和弹性组件;保险杆设置在触发块的一侧,保险杆沿外壳的长度方向滑动设置在外壳的侧壁上;弹性组件设置在保险杆位于外壳内的端部上;第一连杆设置在保险杆的下方,第一连杆的一端与保险杆的端部铰接;卡接架竖直设置在第一连杆的下方,卡接架的上部与第一连杆远离保险杆的一端铰接,卡接架在第一连杆的带动下能沿竖直方向滑动;第一卡接槽沿外壳的长度方向贯穿开设在卡接架上;第二卡接槽开设在触发块的下部,卡接架与第二卡接槽卡接配合。Preferably, the safety device includes a safety rod, a first connecting rod, a clamping frame, a first clamping groove, a second clamping groove and an elastic component; the safety rod is arranged on one side of the trigger block, and the safety rod is along the length direction of the housing The elastic component is arranged on the side wall of the shell; the elastic component is arranged on the end of the safety rod in the shell; the first connecting rod is arranged below the safety rod, and one end of the first connecting rod is hinged with the end of the safety rod; the snap connection The frame is arranged vertically below the first connecting rod. The upper part of the clamping frame is hinged with the end of the first connecting rod away from the safety lever. The clamping frame can slide in the vertical direction driven by the first connecting rod; the first clamping frame is The connecting groove runs through the clamping frame along the length direction of the housing; the second clamping slot is opened at the lower part of the trigger block, and the clamping frame engages with the second clamping slot.
优选的,弹性组件包括第二连杆、滑块和弹簧;第二连杆铰接在触发块位于外壳内部的一端上;滑块铰接在第二连杆远离触发块的一端上,滑块沿外壳的宽度方向滑动设置;弹簧沿外壳的宽度方向设置在滑块远离第二连杆上。Preferably, the elastic component includes a second link, a slider and a spring; the second link is hinged on the end of the trigger block located inside the housing; the slider is hinged on the end of the second link away from the trigger block, and the slider moves along the housing. The spring is arranged slidingly in the width direction of the housing; the spring is arranged on the slider away from the second link along the width direction of the housing.
优选的,传动装置包括供气装置、涡轮泵、圆盘、啮合齿和第一齿轮;涡轮泵设置在第一连接管上,第一连接管内气体流动时能带动涡轮泵转动;圆盘设置在涡轮泵的一侧,涡轮泵能带动圆盘转动;啮合齿设置有多个,啮合齿围绕圆盘的直线等距设置在圆盘的侧壁上,且圆盘未设有啮合齿部分的弧长大于圆盘设有啮合齿部分的弧长;供气装置的两侧分别与气体反应器和气囊连接;第一齿轮设置在供气装置上,第一齿轮能控制供气装置开闭,第一齿轮与啮合齿相互啮合。Preferably, the transmission device includes an air supply device, a turbine pump, a disc, meshing teeth and a first gear; the turbine pump is arranged on the first connecting pipe, and when the gas in the first connecting pipe flows, it can drive the turbine pump to rotate; the disc is arranged on On one side of the turbine pump, the turbine pump can drive the disc to rotate; there are multiple meshing teeth, and the meshing teeth are equidistantly arranged on the side wall of the disc around the straight line of the disc, and the disc is not provided with an arc of the meshing tooth portion. It is longer than the arc length of the part where the disk is provided with meshing teeth; both sides of the gas supply device are connected to the gas reactor and the air bag respectively; the first gear is arranged on the gas supply device, and the first gear can control the opening and closing of the gas supply device. A gear meshes with the meshing teeth.
优选的,传动装置还包括第二齿轮和第三齿轮;第二齿轮固定设置在涡轮泵的驱动端上;第三齿轮沿圆盘的轴线设置在圆盘的端部,第三齿轮与第二齿轮相互啮合,第二齿轮的直径小于第三齿轮的直径。Preferably, the transmission device also includes a second gear and a third gear; the second gear is fixedly arranged on the driving end of the turbine pump; the third gear is arranged at the end of the disc along the axis of the disc, and the third gear is connected to the second gear. The gears mesh with each other, and the diameter of the second gear is smaller than the diameter of the third gear.
优选的,供气装置包括第二连接管和开关阀;第二连接管的两端分别与气囊和气体反应器连接;开关阀设置在第二连接管上,开关阀上的开关旋钮与第一齿轮固定连接。Preferably, the gas supply device includes a second connecting pipe and a switch valve; both ends of the second connecting pipe are connected to the air bag and the gas reactor respectively; the switching valve is arranged on the second connecting pipe, and the switch knob on the switching valve is connected to the first Gear fixed connection.
优选的,安全装置还包括单向阀;单向阀设置在密封仓的侧壁上,单向阀允许密封仓内的水向密封仓外流。Preferably, the safety device further includes a one-way valve; the one-way valve is arranged on the side wall of the sealed compartment, and the one-way valve allows water in the sealed compartment to flow out of the sealed compartment.
优选的,安全装置还包括警示灯;警示灯固定设置在外壳的上部。Preferably, the safety device also includes a warning light; the warning light is fixedly mounted on the upper part of the housing.
优选的,安全装置还包括定位器;定位器固定设置在外壳的内部。Preferably, the safety device further includes a locator; the locator is fixedly arranged inside the housing.
本发明相比较于现有技术的有益效果是:Compared with the prior art, the beneficial effects of the present invention are:
本发明通过设置触发装置、气体反应器、密封仓、第一连接管、传动装置和气囊,当机器人出现问题时,机器人便会失去控制并开始下沉,由于密封仓内部在下潜的过程中会存有压载水,为了使得机器人能快速上浮还需要将密封仓内的水排出,当机器人开始下沉,触发装置处的压力逐渐上升,当海水的压力到达预设压力时,触发装置被触发,触发装置将气体反应器激活,气体反应器产生气体,气体通过第一连接管进入到密封仓内,密封仓中的压载水被气体挤出,如此密封仓内整体重量降低,随后传动装置将气体泵入气囊中,气囊弹出带动机器人浮出水面,使得机器人能在出现问题后快速浮出水面,同时避免了使用电子元件导致的安全装置无法正常运行的情况。By arranging a trigger device, a gas reactor, a sealed chamber, a first connecting pipe, a transmission device and an air bag, the invention will prevent the robot from losing control and starting to sink when there is a problem with the robot. There is ballast water. In order for the robot to float quickly, the water in the sealed compartment needs to be drained. When the robot starts to sink, the pressure at the trigger device gradually rises. When the seawater pressure reaches the preset pressure, the trigger device is triggered. , the trigger device activates the gas reactor, the gas reactor generates gas, and the gas enters the sealed compartment through the first connecting pipe. The ballast water in the sealed compartment is squeezed out by the gas, so that the overall weight of the sealed compartment is reduced, and then the transmission device The gas is pumped into the air bag, and the air bag pops up to drive the robot to the surface, allowing the robot to quickly surface after a problem occurs, while avoiding the situation where the safety device cannot operate normally due to the use of electronic components.
附图说明Description of the drawings
图1是一种水下机器人的气囊未弹出时的立体示意图。Figure 1 is a three-dimensional schematic diagram of an underwater robot when its airbag is not ejected.
图2是一种水下机器人的气囊弹出后的立体示意图。Figure 2 is a three-dimensional schematic diagram of an underwater robot after its air bag is ejected.
图3是一种水下机器人的去除了外壳和部分密封壳后的立体示意图。Figure 3 is a schematic three-dimensional view of an underwater robot with the outer shell and part of the sealing shell removed.
图4是一种水下机器人的去除了单向阀、外壳和密封壳后的立体示意图一。Figure 4 is a schematic three-dimensional view of an underwater robot with the one-way valve, outer shell and sealing shell removed.
图5是一种水下机器人的图4中A处的局部放大示意图。Figure 5 is a partial enlarged schematic diagram of position A in Figure 4 of an underwater robot.
图6是一种水下机器人的图4中B处的局部放大示意图。Figure 6 is a partially enlarged schematic view of B in Figure 4 of an underwater robot.
图7是一种水下机器人的去除了单向阀、外壳和密封壳后的立体示意图二。Figure 7 is a schematic two-dimensional view of an underwater robot with the one-way valve, outer shell and sealing shell removed.
图8是一种水下机器人的图7中C处的局部放大示意图。Figure 8 is a partial enlarged schematic diagram of C in Figure 7 of an underwater robot.
图9是一种水下机器人的去除了卡接架、单向阀、外壳和密封壳后的立体示意图。Figure 9 is a schematic three-dimensional view of an underwater robot with the clamping frame, one-way valve, outer shell and sealing shell removed.
图10是一种水下机器人的图9中D处的局部放大示意图。Figure 10 is a partial enlarged schematic diagram of D in Figure 9 of an underwater robot.
图中标号为:The numbers in the picture are:
1-外壳;2-安全装置;21-触发装置;211-触发块;212-按钮;213-保险装置;2131-保险杆;2132-第一连杆;2133-卡接架;2134-第一卡接槽;2135-第二卡接槽;2136-第二连杆;2137-滑块;2138-弹簧;22-气体反应器;23-密封仓;231-单向阀;24-第一连接管;25-传动装置;251-供气装置;2511-第二连接管;2512-开关阀;252-涡轮泵;2521-第二齿轮;2522-第三齿轮;253-圆盘;2531-啮合齿;254-第一齿轮;26-气囊;27-警示灯。1-Shell; 2-Safety device; 21-Trigger device; 211-Trigger block; 212-Button; 213-Safety device; 2131-Bumper lever; 2132-First connecting rod; 2133-Clamping frame; 2134-First Snap slot; 2135-second snap slot; 2136-second connecting rod; 2137-slider; 2138-spring; 22-gas reactor; 23-sealing compartment; 231-one-way valve; 24-first connection Pipe; 25-transmission device; 251-air supply device; 2511-second connecting pipe; 2512-switch valve; 252-turbine pump; 2521-second gear; 2522-third gear; 253-disc; 2531-meshing teeth; 254-first gear; 26-air bag; 27-warning light.
具体实施方式Detailed ways
为能进一步了解本发明的特征、技术手段以及所达到的具体目的、功能,下面结合附图与具体实施方式对本发明作进一步详细描述。In order to further understand the characteristics, technical means, and specific purposes and functions of the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and specific implementation modes.
参照图1、图2和图7:一种水下机器人,包括外壳1和安全装置2;安全装置2包括触发装置21、气体反应器22、密封仓23、第一连接管24、传动装置25和气囊26;触发装置21设置在外壳1上,触发装置21在预设压力下能被触发;气体反应器22设置在外壳1内,触发装置21与气体反应器22连接,触发装置21被触发后能将气体反应器22启动;密封仓23固定设置在外壳1的侧壁上,密封仓23的侧壁上开设有排水口;第一连接管24的两端分别与密封仓23和气体反应器22连接,气体反应器22反应产生的气体通过第一连接管24进入密封仓23内;气囊26固定设置在外壳1的上部;传动装置25设置在第一连接管24上,密封仓23内的水排出后,第一连接管24驱动传动装置25将气体反应器22产生的气体泵入气囊26。Referring to Figures 1, 2 and 7: an underwater robot includes a shell 1 and a safety device 2; the safety device 2 includes a trigger device 21, a gas reactor 22, a sealed chamber 23, a first connecting pipe 24, and a transmission device 25 and air bag 26; the trigger device 21 is provided on the housing 1, and the trigger device 21 can be triggered under a preset pressure; the gas reactor 22 is provided in the housing 1, the trigger device 21 is connected to the gas reactor 22, and the trigger device 21 is triggered Afterwards, the gas reactor 22 can be started; the sealing chamber 23 is fixedly arranged on the side wall of the housing 1, and a drainage outlet is provided on the side wall of the sealing chamber 23; both ends of the first connecting pipe 24 react with the sealing chamber 23 and the gas respectively. The gas reactor 22 is connected, and the gas generated by the reaction of the gas reactor 22 enters the sealed compartment 23 through the first connecting pipe 24; the air bag 26 is fixedly arranged on the upper part of the housing 1; the transmission device 25 is arranged on the first connecting pipe 24, and the sealed compartment 23 After the water is discharged, the first connecting pipe 24 drives the transmission device 25 to pump the gas generated by the gas reactor 22 into the air bag 26 .
当机器人出现问题时,机器人便会失去控制并开始下沉,由于密封仓23内部在下潜的过程中会存有压载水,为了使得机器人能快速上浮还需要将密封仓23内的水排出,当机器人开始下沉,触发装置21处的压力逐渐上升,触发装置21内设置有预设压力,只有在外界的压力到达预设压力时触发装置21才会被触发,触发装置21为机械结构,值得注意的是,预设压力的压力值需要小于机器人最大设计抗压值,否则在机器人下沉的过程中,外部海水的压力会将机器人压爆,只有预设压力小于机器人最大设计抗压值,才能保证机器人在上浮前不会被海水压力损坏。当海水的压力到达预设压力时,触发装置21被触发,触发装置21将气体反应器22激活,气体反应器22产生气体,气体通过第一连接管24进入到密封仓23内,密封仓23中的压载水被气体挤出,如此密封仓23内整体重量降低,随后传动装置25将气体泵入气囊26中,气囊26弹出带动机器人浮出水面,由于气体反应器22产生气体的一瞬间压力最大,而密封仓23内存有压载水,如果要把密封仓23内的水排出,就需要足够大的压力才行,如此气体反应器22产生的气体需要首先通过第一连接管24进入到密封仓23内,将密封仓23内的水排出后,传动装置25才会将气体反应器22中产生的气体排入气囊26内,如此密封仓23也可以为机器人提供浮力,在气囊26和密封仓23的双重作用下,机器人能在出现问题后能快速浮出水面,同时避免了使用电子元件导致的安全装置2无法正常运行的情况。When a problem occurs with the robot, the robot will lose control and start to sink. Since there will be ballast water inside the sealed chamber 23 during the descent, in order for the robot to float quickly, the water in the sealed chamber 23 needs to be drained. When the robot begins to sink, the pressure at the trigger device 21 gradually rises. A preset pressure is set in the trigger device 21. The trigger device 21 will be triggered only when the external pressure reaches the preset pressure. The trigger device 21 is a mechanical structure. It is worth noting that the preset pressure value needs to be less than the maximum design pressure value of the robot. Otherwise, during the sinking process of the robot, the pressure of the external seawater will crush the robot. Only the preset pressure is less than the maximum design pressure resistance value of the robot. , to ensure that the robot will not be damaged by seawater pressure before floating up. When the pressure of seawater reaches the preset pressure, the trigger device 21 is triggered, and the trigger device 21 activates the gas reactor 22. The gas reactor 22 generates gas, and the gas enters the sealing chamber 23 through the first connecting pipe 24. The sealing chamber 23 The ballast water in the tank is squeezed out by the gas, so that the overall weight in the sealed chamber 23 is reduced. Then the transmission device 25 pumps the gas into the air bag 26. The air bag 26 pops up and drives the robot to surface. The moment the gas reactor 22 generates gas The pressure is the highest, and there is ballast water in the sealed chamber 23. If the water in the sealed chamber 23 is to be discharged, a large enough pressure is needed. In this way, the gas generated by the gas reactor 22 needs to enter through the first connecting pipe 24 first. In the sealed chamber 23, after the water in the sealed chamber 23 is discharged, the transmission device 25 will discharge the gas generated in the gas reactor 22 into the air bag 26. In this way, the sealed chamber 23 can also provide buoyancy for the robot. In the air bag 26 Under the dual functions of the robot and the sealed compartment 23, the robot can quickly surface after a problem occurs, and at the same time, it avoids the failure of the safety device 2 to operate normally due to the use of electronic components.
参照图2、图3和图10:触发装置21包括触发块211、按钮212和保险装置213;触发块211沿外壳1的长度方向滑动设置在外壳1的侧壁上,触发块211贯穿于外壳1的侧壁;按钮212设置在外壳1的内部,按钮212位于触发块211端部的一侧,按钮212与气体反应器22连接并能将气体反应器22触发,触发块211能将按钮212触发;保险装置213设置在触发块211上,保险装置213在外部压力没有达到预设压力时对触发块211进行限制。Referring to Figures 2, 3 and 10: the triggering device 21 includes a triggering block 211, a button 212 and a safety device 213; the triggering block 211 is slidably disposed on the side wall of the housing 1 along the length direction of the housing 1, and the triggering block 211 penetrates the housing. 1; the button 212 is arranged inside the shell 1, and the button 212 is located on one side of the end of the trigger block 211. The button 212 is connected to the gas reactor 22 and can trigger the gas reactor 22. The trigger block 211 can trigger the button 212 Trigger; the safety device 213 is set on the trigger block 211, and the safety device 213 limits the trigger block 211 when the external pressure does not reach the preset pressure.
在机器人下潜的过程中,海洋中的水流会对机器人外壳1的侧壁形成冲击,若不设置保险装置213,则会出现在水流的冲击下,触发块211发生滑动,如此易导致触发块211意外将按钮212触发的情况,而在设置了保险装置213后,只有在机器人出现故障时,随着机器人的下沉,外界压力逐渐大于预设压力,此时保险装置213解锁,触发块211便能自由滑动,在外部海水的压力作用下,触发块211能将按钮212按下触发。When the robot dives, the water flow in the ocean will impact the side wall of the robot shell 1. If the safety device 213 is not provided, the trigger block 211 will slide under the impact of the water flow, which may easily cause the trigger block 211 to slide. 211 accidentally triggers the button 212, and after the safety device 213 is set, only when the robot fails, as the robot sinks, the external pressure gradually exceeds the preset pressure, at this time the safety device 213 is unlocked, and the trigger block 211 It can slide freely, and under the pressure of external seawater, the trigger block 211 can press and trigger the button 212.
参照图7、图8和图10:保险装置213包括保险杆2131、第一连杆2132、卡接架2133、第一卡接槽2134、第二卡接槽2135和弹性组件;保险杆2131设置在触发块211的一侧,保险杆2131沿外壳1的长度方向滑动设置在外壳1的侧壁上;弹性组件设置在保险杆2131位于外壳1内的端部上;第一连杆2132设置在保险杆2131的下方,第一连杆2132的一端与保险杆2131的端部铰接;卡接架2133竖直设置在第一连杆2132的下方,卡接架2133的上部与第一连杆2132远离保险杆2131的一端铰接,卡接架2133在第一连杆2132的带动下能沿竖直方向滑动;第一卡接槽2134沿外壳1的长度方向贯穿开设在卡接架2133上;第二卡接槽2135开设在触发块211的下部,卡接架2133与第二卡接槽2135卡接配合。Referring to Figures 7, 8 and 10: the safety device 213 includes a safety lever 2131, a first connecting rod 2132, a snap-in frame 2133, a first snap-in groove 2134, a second snap-in slot 2135 and an elastic component; the safety lever 2131 is provided On one side of the trigger block 211, the safety rod 2131 is slidably disposed on the side wall of the shell 1 along the length direction of the shell 1; an elastic component is disposed on the end of the safety rod 2131 inside the shell 1; the first connecting rod 2132 is disposed on Below the bumper 2131, one end of the first connecting rod 2132 is hingedly connected to the end of the bumper 2131; the clamping frame 2133 is arranged vertically below the first connecting rod 2132, and the upper part of the clamping frame 2133 is connected to the first connecting rod 2132 The end away from the safety lever 2131 is hinged, and the clamping frame 2133 can slide in the vertical direction driven by the first connecting rod 2132; the first clamping groove 2134 runs through the clamping frame 2133 along the length direction of the housing 1; Two snap-in slots 2135 are provided at the lower part of the trigger block 211, and the snap-in frame 2133 snap-fits with the second snap-in slot 2135.
为了防止触发块211被流动的水流冲击发生意外滑动,便在触发块211的一侧设置了保险装置213,当压力没有达到预设压力时,弹性组件为保险杆2131提供支撑,使得保险杆2131不会完全缩入外壳1内,进而设置在第一连杆2132下方的卡接架2133也不会完全下移,由于外界海水的压力会同时作用在保险杆2131和触发块211上,在弹性组件的作用下,保险杆2131不会轻易发生滑动,即外界的水流冲击不会对保险杆2131造成太大影响,只有随着下潜深度的增加,海水压力克服弹性组件的弹力将保险杆2131压下,保险杆2131通过第一连杆2132推动卡接架2133滑动,随着卡接架2133沿竖直方向滑动,卡接架2133与触发块211脱离卡接,如此触发块211便会在外界海水的压力作用下撞击在按钮212上,如此气体反应器22便被激活。In order to prevent the trigger block 211 from accidentally sliding due to the impact of the flowing water, a safety device 213 is provided on one side of the trigger block 211. When the pressure does not reach the preset pressure, the elastic component provides support for the safety lever 2131, so that the safety lever 2131 It will not be completely retracted into the housing 1, and the clamping frame 2133 provided below the first connecting rod 2132 will not completely move down, because the pressure of the external seawater will act on the bumper 2131 and the trigger block 211 at the same time. Under the action of the component, the bumper 2131 will not slide easily, that is, the impact of external water flow will not have a great impact on the bumper 2131. Only as the diving depth increases, the seawater pressure overcomes the elastic force of the elastic component and pushes the bumper 2131 When pressed down, the safety lever 2131 pushes the clamping frame 2133 to slide through the first connecting rod 2132. As the clamping frame 2133 slides in the vertical direction, the clamping frame 2133 and the trigger block 211 are disengaged, so that the trigger block 211 will The pressure of external seawater hits the button 212, so that the gas reactor 22 is activated.
参照图8:弹性组件包括第二连杆2136、滑块2137和弹簧2138;第二连杆2136铰接在触发块211位于外壳1内部的一端上;滑块2137铰接在第二连杆2136远离触发块211的一端上,滑块2137沿外壳1的宽度方向滑动设置;弹簧2138沿外壳1的宽度方向设置在滑块2137远离第二连杆2136上。Referring to Figure 8: the elastic component includes a second link 2136, a slider 2137 and a spring 2138; the second link 2136 is hinged on one end of the trigger block 211 located inside the housing 1; the slider 2137 is hinged on the second link 2136 away from the trigger On one end of the block 211, the slider 2137 is slidably disposed along the width direction of the housing 1; a spring 2138 is disposed on the slider 2137 away from the second link 2136 along the width direction of the housing 1.
当保险杆2131在受到外界海水压力或者是水流波动撞击时,保险杆2131便通过第二连杆2136带动滑块2137滑动,使得设置在滑块2137上的弹簧2138被压缩,如此压缩后弹簧2138的弹力便作用在保险杆2131上,且只有在保险杆2131被完全压入外壳1中时,卡接架2133才会与触发块211脱离卡接。When the bumper 2131 is impacted by external seawater pressure or water flow fluctuations, the bumper 2131 drives the slider 2137 to slide through the second connecting rod 2136, so that the spring 2138 provided on the slider 2137 is compressed, so that the compressed spring 2138 The elastic force acts on the safety lever 2131, and only when the safety lever 2131 is completely pressed into the housing 1, the clamping frame 2133 will be disengaged from the trigger block 211.
参照图4:传动装置25包括供气装置251、涡轮泵252、圆盘253、啮合齿2531和第一齿轮254;涡轮泵252设置在第一连接管24上,第一连接管24内气体流动时能带动涡轮泵252转动;圆盘253设置在涡轮泵252的一侧,涡轮泵252能带动圆盘253转动;啮合齿2531设置有多个,啮合齿2531围绕圆盘253的直线等距设置在圆盘253的侧壁上,且圆盘253未设有啮合齿2531部分的弧长大于圆盘253设有啮合齿2531部分的弧长;供气装置251的两侧分别与气体反应器22和气囊26连接;第一齿轮254设置在供气装置251上,第一齿轮254能控制供气装置251开闭,第一齿轮254与啮合齿2531相互啮合。Referring to Figure 4: the transmission device 25 includes an air supply device 251, a turbine pump 252, a disk 253, a meshing tooth 2531 and a first gear 254; the turbine pump 252 is arranged on the first connecting pipe 24, and the gas flows in the first connecting pipe 24 can drive the turbine pump 252 to rotate; the disc 253 is arranged on one side of the turbine pump 252, and the turbine pump 252 can drive the disc 253 to rotate; there are multiple meshing teeth 2531, and the meshing teeth 2531 are arranged equidistantly around the straight line of the disc 253 On the side wall of the disk 253, and the arc length of the part of the disk 253 without the meshing teeth 2531 is greater than the arc length of the part of the disk 253 with the meshing teeth 2531; both sides of the gas supply device 251 are respectively connected with the gas reactor 22 Connected to the air bag 26; the first gear 254 is arranged on the air supply device 251, the first gear 254 can control the opening and closing of the air supply device 251, and the first gear 254 meshes with the meshing teeth 2531.
当气体反应器22激活后,气体反应器22产生气体,气体进入第一连接管24内,如此设置在第一连接管24上的涡轮泵252便会被带动转动,而圆盘253能被涡轮泵252驱动,如此在涡轮泵252转动后,圆盘253便发生转动,当圆盘253转动后,圆盘253没有设置有啮合齿2531的部分在经过第一齿轮254时不会带动第一齿轮254转动,而当圆盘253上设置有啮合齿2531的部分经过第一齿轮254时,第一齿轮254便会被带动转动,供气装置251在第一齿轮254的驱动下开启,供气装置251便将提起供给至气囊26中,气囊26充气膨胀带着外壳1上浮。When the gas reactor 22 is activated, the gas reactor 22 generates gas, and the gas enters the first connecting pipe 24, so that the turbine pump 252 provided on the first connecting pipe 24 will be driven to rotate, and the disc 253 can be rotated by the turbine. The pump 252 drives, so after the turbine pump 252 rotates, the disc 253 rotates. When the disc 253 rotates, the part of the disc 253 that is not provided with meshing teeth 2531 will not drive the first gear when passing the first gear 254 254 rotates, and when the part provided with the meshing teeth 2531 on the disk 253 passes the first gear 254, the first gear 254 will be driven to rotate, and the air supply device 251 is opened under the drive of the first gear 254. 251 will be lifted up and supplied to the air bag 26, and the air bag 26 will be inflated and expanded with the shell 1 floating up.
参照图5:传动装置25还包括第二齿轮2521和第三齿轮2522;第二齿轮2521固定设置在涡轮泵252的驱动端上;第三齿轮2522沿圆盘253的轴线设置在圆盘253的端部,第三齿轮2522与第二齿轮2521相互啮合,第二齿轮2521的直径小于第三齿轮2522的直径。Referring to Figure 5: the transmission device 25 also includes a second gear 2521 and a third gear 2522; the second gear 2521 is fixedly provided on the driving end of the turbine pump 252; the third gear 2522 is provided on the disk 253 along the axis of the disk 253 At the end, the third gear 2522 meshes with the second gear 2521, and the diameter of the second gear 2521 is smaller than the diameter of the third gear 2522.
当气体从第一连接管24内流过时,设置在第一连接管24上的涡轮泵252便会发生转动,如此设置在涡轮泵252驱动端上的第二齿轮2521也会发生转动,由于第二齿轮2521和第三齿轮2522相互啮合,如此第三齿轮2522便能被第二齿轮2521转动,与第三齿轮2522固定连接的圆盘253也会发生转动。When gas flows through the first connecting pipe 24, the turbine pump 252 provided on the first connecting pipe 24 will rotate, so the second gear 2521 provided on the driving end of the turbine pump 252 will also rotate. The second gear 2521 and the third gear 2522 mesh with each other, so that the third gear 2522 can be rotated by the second gear 2521, and the disc 253 fixedly connected to the third gear 2522 will also rotate.
参照图6:供气装置251包括第二连接管2511和开关阀2512;第二连接管2511的两端分别与气囊26和气体反应器22连接;开关阀2512设置在第二连接管2511上,开关阀2512上的开关旋钮与第一齿轮254固定连接。Referring to Figure 6: the gas supply device 251 includes a second connecting pipe 2511 and a switching valve 2512; both ends of the second connecting pipe 2511 are connected to the air bag 26 and the gas reactor 22 respectively; the switching valve 2512 is provided on the second connecting pipe 2511, The switch knob on the switch valve 2512 is fixedly connected to the first gear 254 .
当圆盘253转动后,圆盘253没有设置有啮合齿2531的部分在经过第一齿轮254时不会带动第一齿轮254转动,而当圆盘253上设置有啮合齿2531的部分经过第一齿轮254时,第一齿轮254便会被带动转动,第一齿轮254带动开关阀2512上的开关旋钮转动,如此气体反应器22产生的气体便会通过第二连接管2511进入到气囊26内,气囊26充气膨胀。When the disk 253 rotates, the part of the disk 253 that is not provided with the meshing teeth 2531 will not drive the first gear 254 to rotate when passing the first gear 254. However, when the part of the disk 253 that is provided with the meshing teeth 2531 passes the first When the gear 254 is turned on, the first gear 254 will be driven to rotate, and the first gear 254 drives the switch knob on the switch valve 2512 to rotate, so that the gas generated by the gas reactor 22 will enter the air bag 26 through the second connecting pipe 2511. The air bag 26 is inflated.
参照图1:安全装置2还包括单向阀231;单向阀231设置在密封仓23的侧壁上,单向阀231允许密封仓23内的水向密封仓23外流。Referring to Figure 1: the safety device 2 also includes a one-way valve 231; the one-way valve 231 is provided on the side wall of the sealed compartment 23, and the one-way valve 231 allows the water in the sealed compartment 23 to flow out to the sealed compartment 23.
由于机器人在出现故障后,机器人的很多电力系统会失灵,密封仓23在储存压载水时需要将外界的水抽入,如此密封仓23上就需要设置一个开关,而在机器人失灵时,无法保证开关能顺利开启,若开关处于关闭状态,气体反应器22产生的气体压力便无法将密封仓23内的水挤出,而在设置了单向阀231后,便能避免这一情况出现,密封仓23内的水能被稳定挤出,且外界的海水也不会通过单向阀231进入到密封仓23内。Since many of the robot's power systems will fail after a robot malfunctions, the sealed bin 23 needs to pump in external water when storing ballast water. Therefore, a switch needs to be set on the sealed bin 23. When the robot fails, it cannot Ensure that the switch can be opened smoothly. If the switch is in a closed state, the gas pressure generated by the gas reactor 22 will not be able to squeeze out the water in the sealed chamber 23. After the one-way valve 231 is installed, this situation can be avoided. The water in the sealed chamber 23 can be stably squeezed out, and external seawater will not enter the sealed chamber 23 through the one-way valve 231.
参照图1:安全装置2还包括警示灯27;警示灯27固定设置在外壳1的上部。Referring to Figure 1: the safety device 2 also includes a warning light 27; the warning light 27 is fixedly arranged on the upper part of the housing 1.
当机器人在夜间作业出现故障时,在密封仓23的水排出以及气囊26弹出后,位于水下的机器人便会上升,而设置在外壳1上的警示灯27能为搜寻机器人的工作人员提供指引,方便在夜间找寻。When the robot fails during night operations, after the water in the sealed compartment 23 is discharged and the air bag 26 is ejected, the underwater robot will rise, and the warning light 27 provided on the shell 1 can provide guidance for the staff searching for the robot. , easy to find at night.
参照图1-图10:安全装置2还包括定位器;定位器固定设置在外壳1的内部。Referring to Figures 1 to 10: the safety device 2 also includes a locator; the locator is fixedly arranged inside the housing 1.
由于在海上存在洋流,当机器人出现故障浮出水面时,在洋流的推动下,机器人会远离事发地,而在设置了定位器后,工作人员能通过定位器的定位找到机器人的具体位置。Due to the existence of ocean currents at sea, when a robot malfunctions and surfaces, the robot will be driven away from the incident site by the ocean currents. After setting up a locator, the staff can find the specific location of the robot through the positioning of the locator.
以上实施例仅表达了本发明的一种或几种实施方式,其描述较为具体和详细,但并不能因此而理解为对本发明范围的限制。应当指出的是,对于本领域的普通技术人员来说,在不脱离本发明构思的前提下,还可以做出若干变形和改进,这些都属于本发明的保护范围。因此,本发明的保护范围应以所附权利要求为准。The above embodiments only express one or several implementation modes of the present invention. The descriptions are relatively specific and detailed, but should not be construed as limiting the scope of the present invention. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202311320830.8A CN117208175B (en) | 2023-10-12 | 2023-10-12 | Underwater robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202311320830.8A CN117208175B (en) | 2023-10-12 | 2023-10-12 | Underwater robot |
Publications (2)
Publication Number | Publication Date |
---|---|
CN117208175A true CN117208175A (en) | 2023-12-12 |
CN117208175B CN117208175B (en) | 2024-04-09 |
Family
ID=89042523
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202311320830.8A Active CN117208175B (en) | 2023-10-12 | 2023-10-12 | Underwater robot |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN117208175B (en) |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20080006597U (en) * | 2008-12-03 | 2008-12-29 | (주)보고 | Ballast apparatus of underwater vehicle |
CN104309787A (en) * | 2014-10-23 | 2015-01-28 | 南通市海鸥救生防护用品有限公司 | Robot drop protection device |
CN111252223A (en) * | 2020-02-27 | 2020-06-09 | 中国科学院自动化研究所 | Underwater robot emergency surfacing device |
CN112249284A (en) * | 2020-10-23 | 2021-01-22 | 哈尔滨工程大学 | Emergency floating device of underwater robot |
CN112319749A (en) * | 2020-10-26 | 2021-02-05 | 中国船舶科学研究中心 | Submersible underwater deep falling emergency floating device |
CN212500965U (en) * | 2019-04-26 | 2021-02-09 | 西湖大学 | An emergency recovery device for an underwater robot |
CN114715366A (en) * | 2020-12-22 | 2022-07-08 | 中国科学院沈阳自动化研究所 | An emergency buoyancy device for underwater unmanned vehicle |
CN115465429A (en) * | 2022-09-22 | 2022-12-13 | 中国船舶科学研究中心 | Emergency drainage device with dual protection functions for underwater vehicle and drainage method |
-
2023
- 2023-10-12 CN CN202311320830.8A patent/CN117208175B/en active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20080006597U (en) * | 2008-12-03 | 2008-12-29 | (주)보고 | Ballast apparatus of underwater vehicle |
CN104309787A (en) * | 2014-10-23 | 2015-01-28 | 南通市海鸥救生防护用品有限公司 | Robot drop protection device |
CN212500965U (en) * | 2019-04-26 | 2021-02-09 | 西湖大学 | An emergency recovery device for an underwater robot |
CN111252223A (en) * | 2020-02-27 | 2020-06-09 | 中国科学院自动化研究所 | Underwater robot emergency surfacing device |
CN112249284A (en) * | 2020-10-23 | 2021-01-22 | 哈尔滨工程大学 | Emergency floating device of underwater robot |
CN112319749A (en) * | 2020-10-26 | 2021-02-05 | 中国船舶科学研究中心 | Submersible underwater deep falling emergency floating device |
CN114715366A (en) * | 2020-12-22 | 2022-07-08 | 中国科学院沈阳自动化研究所 | An emergency buoyancy device for underwater unmanned vehicle |
CN115465429A (en) * | 2022-09-22 | 2022-12-13 | 中国船舶科学研究中心 | Emergency drainage device with dual protection functions for underwater vehicle and drainage method |
Non-Patent Citations (1)
Title |
---|
王明剑;陈庆;张绳;: "气囊技术用于潜艇应急上浮方案探讨", 舰船科学技术, no. 04, 15 April 2009 (2009-04-15), pages 41 - 44 * |
Also Published As
Publication number | Publication date |
---|---|
CN117208175B (en) | 2024-04-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110565610B (en) | A device for cleaning and recovering floating objects on a narrow river surface | |
CN117147227A (en) | Water quality sampling device and sampling method | |
CN114291239B (en) | Underwater garbage cleaning robot | |
CN115027612A (en) | Adjustable boats and ships sonar fixed establishment who accomodates | |
CN117208175B (en) | Underwater robot | |
LU501754B1 (en) | All-terrain walking suction type seabed cleaning device | |
CN118323329B (en) | Marine environment monitoring ship for marine ecological restoration engineering | |
CN110844019B (en) | An underwater robot for cleaning and recycling ship hull garbage and its operation method | |
CN209870691U (en) | an underwater robot | |
CN211898256U (en) | Water garbage cleaning robot | |
CN117302440A (en) | Water garbage collection rescue integrated robot | |
CN113737878B (en) | Desilting equipment for gas field methanol and light hydrocarbon containing closed space and use method | |
CN116873130A (en) | Unmanned survey and drawing ship in river course | |
CN211663419U (en) | Underwater ship bottom cavitation jet cleaning device | |
CN214660127U (en) | Intelligent detection device for drilling fluid level of anti-overflow pipe of petroleum drilling wellhead | |
CN214216093U (en) | A remote control yacht with an oil slick recovery device | |
CN116059762A (en) | A top-mounted dust suppression device for basement construction | |
CN202642055U (en) | Rake tooth type remote decontaminating device | |
CN111175843A (en) | Underground water source detection device | |
CN217918369U (en) | underwater robot | |
CN113756270B (en) | Sea surface garbage recycling device | |
CN116280113B (en) | Underwater mechanical arm and control method | |
CN112849366A (en) | Equipment special for rescuing in water | |
CN111485540B (en) | Take anti-rust treatment's offshore drilling platform pillar anti-rust equipment | |
CN220204178U (en) | Suspension type submersible sewage pump |
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 |