CN207917114U - Underwater robot - Google Patents
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- CN207917114U CN207917114U CN201820183434.3U CN201820183434U CN207917114U CN 207917114 U CN207917114 U CN 207917114U CN 201820183434 U CN201820183434 U CN 201820183434U CN 207917114 U CN207917114 U CN 207917114U
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- rudder
- elevator
- underwater robot
- rudder face
- robot
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 24
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Abstract
The utility model provides a kind of underwater robot, it is related to the technical field of underwater equipment, the underwater robot includes robot body, rudder, left elevator, right elevator, left rudder machine, right standard rudder machine and direction steering engine, rudder is set to the upper end of robot body, the navigation direction for changing underwater robot under the driving of direction steering engine；Left elevator and right elevator are arranged at intervals at the tail end of robot body, for controlling underwater robot floating or dive under corresponding left rudder the machine either driving of right standard rudder machine；Left rudder machine, right standard rudder machine and direction steering engine may be contained within the inside of robot body；Propeller is provided in the middle part of robot body tail end, propeller is used to push underwater robot to advance under the driving of propulsion electric machine；Left elevator and right elevator are each positioned at the side of propeller.The underwater robot alleviates the larger problem of the disturbance to water body when underwater robot in the prior art changes operational configuration.
Description
Technical field
The utility model is related to underwater equipment technical fields, more particularly, to a kind of underwater robot.
Background technology
In recent years, with the continuous development of scientific and technological level, underwater robot industry emerges rapidly so that underwater
People gradually plays the role to become more and more important in various underwater operations.
The power plant of existing underwater robot uses two horizontal propulsion electric machines and a motor vertical, motor vertical
For the control of underwater robot depth, the vertical ascent of underwater robot or vertical is realized by the positive and negative rotation of motor vertical
Decline；Two horizontal propulsion electric machines play progradation, and underwater machine is realized by changing the speed discrepancy of two horizontal propulsion electric machines
Device people navigates by water the change in direction.Although this mode can realize the lifting of underwater robot position and changing for navigation direction
The shortcomings that becoming, but can not be ignored there is also one, that is, --- underwater robot disturbs water body when changing operational configuration
It is dynamic larger, cause the reliability of underwater observation and sample collection poor.
It would therefore be highly desirable to design a kind of new underwater robot to improve the above problem.
Utility model content
The purpose of this utility model is to provide a kind of underwater robots, to alleviate underwater existing in the prior art
Larger to the disturbance of water body when people's change operational configuration, the technology for causing the reliability of underwater observation and sample collection poor is asked
Topic.
Underwater robot provided by the utility model includes robot body, rudder, left elevator, right elevator, a left side
Steering engine, right standard rudder machine and direction steering engine, the rudder are set to the upper end of the robot body, in the rudder
Change the navigation direction of the underwater robot under the driving of machine；The left elevator and the right elevator are arranged at intervals at institute
The tail end for stating robot body, for controlling the underwater machine under the driving of the corresponding left rudder machine or the right standard rudder machine
Device people floats or dive；The left rudder machine, the right standard rudder machine and the direction steering engine may be contained within the robot body
It is internal；
Propeller is provided in the middle part of the robot body tail end, the propeller is used under the driving of propulsion electric machine
The underwater robot is pushed to advance；The left elevator and the right elevator are each positioned at the side of the propeller.
Further, the rudder is set to the middle part in the robot body width direction, and the rudder
Close to the tail end of the robot body.
Further, the rudder is set to the upper end of the robot body by the first pivotal axis, and described first
Pivotal axis is vertically arranged, and the rudder is located between the tail end and first pivotal axis of the robot body.
Further, the thickness of the rudder is gradually reduced along the direction far from first pivotal axis.
Further, the left elevator and the right elevator are symmetrical arranged about the propeller.
Further, the left elevator is set to the tail of the robot body by horizontally disposed second pivotal axis
End.
Further, the thickness of the left elevator is gradually reduced along the direction far from second pivotal axis, the right side
The structure of elevator is identical as the structure of the left elevator.
Further, the rudder includes the first rudder face and the second rudder face, and first rudder face is fixedly arranged on described first
On pivotal axis, second rudder face is pivotally connected with the one end of first rudder face far from first pivotal axis；
When the rudder is in first state, second rudder face is stacked on first rudder face and with described first
Rudder face is detachable to be fixedly connected；When the rudder is in the second state, second rudder face and first rudder face are side by side
Be arranged and with first rudder face is detachable is fixedly connected.
Further, the left elevator includes third rudder face and the 4th rudder face, and the third rudder face is fixedly arranged on described
On two pivotal axis, the 4th rudder face is pivotally connected with the one end of the third rudder face far from second pivotal axis；
When the left elevator is in first state, the 4th rudder face is stacked on the third rudder face and with described
Three rudder faces are detachable to be fixedly connected；When the left elevator is in the second state, the 4th rudder face and the third rudder face
Be arranged side by side and with the third rudder face is detachable is fixedly connected；
The structure of the right elevator is identical as the structure of the left elevator.
Further, the propeller is for one or two spaced.
Underwater robot provided by the utility model having the beneficial effect that compared with prior art：
Underwater robot provided by the utility model includes robot body, rudder, left elevator, right elevator, a left side
Steering engine, right standard rudder machine and direction steering engine, by left servo driving left elevator, by right servo driving right elevator, to real
The floating of existing underwater robot or dive；By direction servo driving elevator, changing for underwater robot navigation direction is realized
Become, change the operational configuration of underwater robot by the deflection of rudder face, to the disturbance smaller of water body, is conducive to improve underwater observation
With the reliability of sample collection.
Description of the drawings
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific implementation mode or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, other drawings may also be obtained based on these drawings.
Fig. 1 is the overall structure diagram for the underwater robot that the utility model embodiment provides；
Fig. 2 is the vertical view of underwater robot shown in FIG. 1；
Fig. 3 is the front view of underwater robot shown in FIG. 1；
Fig. 4 is the front view for another underwater robot that the utility model embodiment provides；
Fig. 5 is that the structure when rudder in the underwater robot that the utility model embodiment provides is in first state is shown
It is intended to；
Fig. 6 is that the structure when rudder in the underwater robot that the utility model embodiment provides is in the second state is shown
It is intended to.
Icon：1- robot bodies；2- rudders；3- left elevators；4- right elevators；5- propellers；21-
One rudder face；The second rudder faces of 22-.
Specific implementation mode
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
The every other embodiment that field those of ordinary skill is obtained without making creative work, belongs to this practicality
Novel protected range.
It is in the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
The utility model and simplifying describes for ease of description, do not indicate or imply the indicated device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for description purposes only, and are not understood to indicate or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, can also be electrical connection；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, it can understand above-mentioned art with concrete condition
The concrete meaning of language in the present invention.
As Figure 1-Figure 4, underwater robot provided in this embodiment includes robot body 1, rudder 2, left lifting
Rudder 3, right elevator 4, left rudder machine, right standard rudder machine and direction steering engine, rudder 2 are set to the upper end of robot body 1, are used for
The navigation direction of change underwater robot under the driving of direction steering engine.Left elevator 3 and right elevator 4 are arranged at intervals at robot
The tail end of ontology 1, for controlling underwater robot floating or dive under corresponding left rudder the machine either driving of right standard rudder machine.It is left
Steering engine, right standard rudder machine and direction steering engine may be contained within the inside of robot body 1.
Propeller 5 is provided in the middle part of 1 tail end of robot body, propeller 5 under the driving of propulsion electric machine for pushing
Underwater robot advances.Left elevator 3 and right elevator 4 are each positioned at the side of propeller 5.
Underwater robot provided in this embodiment include robot body 1, rudder 2, left elevator 3, right elevator 4,
Left rudder machine, right standard rudder machine and direction steering engine, by left servo driving left elevator 3, by right servo driving right elevator 4, from
And realize floating or the dive of underwater robot；By direction servo driving elevator, realize that underwater robot navigates by water direction
Change.Underwater robot provided in this embodiment is changed by the deflection of rudder face, that is, rudder 2, left elevator 3 and right elevator 4
The operational configuration for becoming underwater robot is conducive to the reliability for improving underwater observation and sample collection to the disturbance smaller of water body.
Specifically, rudder 2 is set to the upper end of robot body 1, it is underwater for changing under the driving of direction steering engine
The navigation direction of robot, can be that rudder 2 is connect by direction connecting rod or direction gear with direction steering engine, and can be
It is deflected under the driving of direction steering engine, and then changes the navigation direction of underwater robot.
It should be noted that the navigation direction for the underwater robot mentioned in the present embodiment refers to underwater robot in level
Navigation direction in face, the tail end of the underwater robot mentioned in the present embodiment refer to underwater robot along linear advancement when,
End in navigation direction.
Similarly, left elevator 3 and right elevator 4 are used to control under the driving of corresponding left rudder machine or right standard rudder machine underwater
Either dive can be that left elevator 3 is connect by left connecting rod or left gear with left rudder machine to robot floating, right elevator 4
It is connect with right standard rudder machine by right connecting rod or right gear, left elevator 3 can deflect under the driving of left rudder machine, right elevator 4
It can be deflected under the driving of right standard rudder machine.
When underwater robot being needed to float, the drive of left elevator 3 and right elevator 4 in corresponding left rudder machine or right standard rudder machine
Under dynamic while certain angle is upward deflected, propulsion electric machine driving propeller 5 makes underwater robot promote, then 3 He of left elevator
Right elevator 4 can act power and reaction force with surrounding water so that the head of underwater robot is (i.e. along navigation direction
Front end) by an active force vertically upward, the tail portion of underwater robot by an active force vertically downward, to
So that underwater robot comes back, floats.
When needing underwater robot dive, the drive of left elevator 3 and right elevator 4 in corresponding left rudder machine or right standard rudder machine
Under dynamic while certain angle is deflected down, propulsion electric machine driving propeller 5 makes underwater robot promote, then 3 He of left elevator
Right elevator 4 with surrounding water can act power and reaction force so that the head of underwater robot by one vertically to
Under active force, tail portion is made underwater robot bow, dive by an active force vertically upward.
When needing underwater robot left-hand rotation (i.e. left-handed)：Rudder 2 is pushed away in the driving infralevoversion certain angle of direction steering engine
Stepper motor driving propeller 5 makes underwater robot promote, then rudder 2 can act power and reaction force with surrounding water,
Make active force of the underwater head part by a level to the left, active force of the tail portion by a level to the right so that
Underwater robot turns left.
Underwater robot turns right (i.e. dextrorotation)：Rudder 2 is in the driving infradextroversion certain angle of direction steering engine, propulsion electric machine
Driving propeller 5 makes underwater robot promote, then rudder 2 can act power and reaction force with surrounding water so that water
Active force of the head of lower robot by a level to the right, effect of the underwater robot tail portion by a level to the left
Power so that underwater robot is turned right.
Further, can be that attitude transducer perceives aircraft posture, and handle when underwater robot changes navigation posture
Posture information is sent to controller, and controller carries out fusion calculation according to remote command, control pwm signal is sent to correspondence
Steering engine, steering engine drives corresponding rudder face, to realize the change of balance and posture.Such as：The depth of water in robot body 1 passes
The depth data of sensor acquisition underwater robot is transmitted to the controller in robot body 1, and controller is according to remote command meter
Depth desired value is calculated, and is calculated with current depth data comparison and then sends control instruction to left rudder machine and right standard rudder machine, left rudder
Machine and the deflection of the corresponding left elevator 3 of right servo driving and right elevator 4 so that aircraft comes back or movement of bowing, and realizes
Aircraft floats or dive.
Specifically, underwater robot navigates by water under water, propeller 5 is driven by the propulsion electric machine of 1 tail portion of robot body
It is promoted, if desired underwater robot floats, then remote controler sends climb command to controller, and controller receives instruction root
The angle for calculating the depth for it is expected to reach according to underwater robot current depth and left rudder machine and right standard rudder machine being needed to deflect, then sends out
Instruction is penetrated to left rudder machine and right standard rudder machine, so that left elevator 3 and right elevator 4 is upward deflected specified angle, upwarps left elevator 3
The obstruction face to flow is formed with the surface of right elevator 4, due to active force and reaction force so that the head of underwater robot
By a upward active force, tail portion by a downward active force, underwater robot comes back movement, underwater robot
It floats.
When underwater robot needs, rudder 2 turns left certain angle, and resistance is formed for the flow of left side
Hinder, since active force and reaction force make the head of underwater robot deflect to the left, realizes movement.
As depicted in figs. 1 and 2, in the present embodiment, during rudder 2 can be set in 1 width direction of robot body
Portion, and rudder 2 is close to the tail end of robot body 1.
It should be noted that the width direction for the robot body 1 mentioned in this implementation refers to underwater robot along straight line
When navigation, with its direction that navigate by water direction vertical.
As shown in Figure 1, in the present embodiment, rudder 2 can be set to the upper of robot body 1 by the first pivotal axis
End, the first pivotal axis are vertically arranged, and rudder 2 is located between the tail end and the first pivotal axis of robot body 1.
Rudder 2 is set to the upper end of robot body 1 by the first pivotal axis being vertically arranged, and is located at robot sheet
Between the tail end of body 1 and the first pivotal axis, can deflect to change when underwater robot navigates by water direction in rudder 2 makes underwater
The posture of people is more steady.
Alternatively, rudder 2 can also be set to the other positions of 1 upper end of robot body, can also
The corresponding position in lower end of robot body 1 is set to by the pivotal axis being vertically arranged, as long as can be deflected in rudder 2
When, so that underwater robot is deflected to predetermined direction.
As shown in Figure 1, in the present embodiment, the thickness of rudder 2 can be gradually reduced along the direction far from the first pivotal axis.
In the present embodiment, left elevator 3 and right elevator 4 can be symmetrical arranged about propeller 5.
Left elevator 3 and right elevator 4 are symmetrical arranged about propeller 5, be conducive to improve submarine navigation device float or
The stability of posture when dive.
As shown in Figure 1, in the present embodiment, left elevator 3 can be set to machine by horizontally disposed second pivotal axis
The tail end of human body 1.Right elevator 4 is symmetrical arranged with left elevator 3 about propeller 5, i.e., right elevator 4 is set also by level
The pivotal axis set is set to the tail end of robot body 1.
In the present embodiment, the thickness of left elevator 3 can be gradually reduced along the direction far from the second pivotal axis, right elevator
4 structure is identical as the structure of left elevator 3.
As shown in Figure 5 and Figure 6, in the present embodiment, rudder 2 may include the first rudder face 21 and the second rudder face 22, and first
Rudder face 21 is fixedly arranged on the first pivotal axis, one end pivot joint of the second rudder face 22 and the first rudder face 21 far from the first pivotal axis.
When rudder 2 is in first state, the second rudder face 22 is stacked on the first rudder face 21 and removable with the first rudder face 21
The formula of unloading is fixedly connected.When rudder 2 is in the second state, the second rudder face 22 and the first rudder face 21 be arranged side by side and with the first rudder face
21 detachable are fixedly connected.
Rudder 2 includes the first rudder face 21 and the second rudder face 22 being articulated, when rudder 2 is in the second state
It is capable of providing the power of bigger when robot changes course under water, so that using underwater provided in this embodiment
When people's operation, user can select that rudder 2 is made to be in above-mentioned first state or the second state according to actual needs, make this
The scope of application for the underwater robot that embodiment provides is wider.
Specifically, when rudder 2 is in first state and the second state between the second rudder face 22 and the first rudder face 21 can
It is detachably fixed connection and may each be and be bolted.
In the present embodiment, left elevator 3 may include third rudder face and the 4th rudder face, and third rudder face is fixedly arranged on the second pivot
On axis, the 4th rudder face is pivotally connected with the one end of third rudder face far from the second pivotal axis.
When left elevator 3 is in first state, the 4th rudder face is stacked on third rudder face and detachable with third rudder face
It is fixedly connected.When left elevator 3 is in the second state, the 4th rudder face is arranged side by side with third rudder face and detachable with third rudder face
Formula is fixedly connected.
Left elevator 3 includes the third rudder face and the 4th rudder face being articulated, when left elevator 3 is in the second state
Robot changes the power that bigger is capable of providing when floating or dive under water for it, so that using provided in this embodiment
When underwater robot operation, user can select that left elevator 3 is made to be in above-mentioned first state or according to actual needs
Two-state keeps the scope of application of underwater robot provided in this embodiment wider.
Specifically, removable between third rudder face and the 4th rudder face when left elevator 3 is in first state and the second state
The formula of unloading is fixedly connected may each be and be bolted.
The structure of right elevator 4 is identical as the structure of left elevator 3, therefore is not repeated to illustrate herein.
As shown in Figure 3 and Figure 4, in the present embodiment, propeller 5 can be for one or two spaced.
Propeller 5 is driven by motor in the prior art and navigates by water direction, control underwater robot to change underwater robot
When floating or dive, the operating for needing motor lasting can change the navigation posture of underwater robot, and use this implementation
The mode for the rudder face control that example provides then can be in the case where only installing one or 2 propulsion electric machines, to underwater robot
Navigation posture controlled, it is seen that underwater robot provided in this embodiment can be more advantageous to reduce power consumption, raising, effect
Rate increases endurance.Such as：In the prior art motor drive mode as use 2808 motors, 700KV, operating voltage 12V, individually
The average operating current of motor is 15A or so, and 3 motor average operating currents reach 18A, and power is：16v*15A*=720W；Turn
It is more powerful when curved, raising and lowering.Rudder face control mode is as used FUTABAS3010 steering engines, single propulsion electric machine (2808 electricity
Machine, 700KV) average operating current 20A, voltage 12V；Steering engine average operating current is 0.3A, voltage 5V, totally 3 steering engines, total work
Rate is：(20A*16V)+(0.3*5V) * 3=324.5W, hence it is evident that be less than motor-driven mode.
In addition, during underwater robot navigates by water, due to water body complexity, silt, stone and water plant etc. can regular volumes
Enter motor, the quantity of motor is more, and being involved in sundries causes the probability of stall bigger, dangerous higher, and rudder face can reduce winding
The danger of water plant and silt stall.Motor drive mode can not carry out normal operation if a motor breaks down；And
The one of rudder face failure of mode of rudder face control can realize motion control, example by way of other several rudder face combinations
Such as：Rudder 2 fails, and to realize left-hand rotation, then can be upwarped by adjusting left elevator 3, the mode that right elevator 4 sinks is realized.
Finally it should be noted that：The above various embodiments is only to illustrate the technical solution of the utility model, rather than limits it
System；Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should
Understand：It still can be with technical scheme described in the above embodiments is modified, either to which part or whole
Technical characteristic carries out equivalent replacement；And these modifications or replacements, this practicality that it does not separate the essence of the corresponding technical solution are new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of underwater robot, which is characterized in that including robot body (1), rudder (2), left elevator (3), right liter
Drop rudder (4), left rudder machine, right standard rudder machine and direction steering engine, the rudder (2) are set to the upper end of the robot body (1),
Navigation direction for changing the underwater robot under the driving of the direction steering engine；The left elevator (3) and described
Right elevator (4) is arranged at intervals at the tail end of the robot body (1), on the corresponding left rudder machine or the right side
The underwater robot floating or dive are controlled under the driving of steering engine；The left rudder machine, the right standard rudder machine and the rudder
Machine may be contained within the inside of the robot body (1)；
Propeller (5) is provided in the middle part of robot body (1) tail end, the propeller (5) is used in propulsion electric machine
Driving is lower to push the underwater robot to advance；The left elevator (3) and the right elevator (4) are each positioned at the propeller
(5) side.
2. underwater robot according to claim 1, which is characterized in that the rudder (2) is set to the robot
Middle part in ontology (1) width direction, and the rudder (2) is close to the tail end of the robot body (1).
3. underwater robot according to claim 2, which is characterized in that the rudder (2) is set by the first pivotal axis
It is placed in the upper end of the robot body (1), first pivotal axis is vertically arranged, and the rudder (2) is located at the machine
Between the tail end of human body (1) and first pivotal axis.
4. underwater robot according to claim 3, which is characterized in that the thickness of the rudder (2) is along far from described
The direction of first pivotal axis is gradually reduced.
5. underwater robot according to claim 1, which is characterized in that the left elevator (3) and the right elevator
(4) it is symmetrical arranged about the propeller (5).
6. underwater robot according to claim 5, which is characterized in that the left elevator (3) is by horizontally disposed
Second pivotal axis is set to the tail end of the robot body (1).
7. underwater robot according to claim 6, which is characterized in that the thickness of the left elevator (3) is along far from institute
The direction for stating the second pivotal axis is gradually reduced, and the structure of the right elevator (4) is identical as the structure of the left elevator (3).
8. underwater robot according to claim 3 or 4, which is characterized in that the rudder (2) includes the first rudder face
(21) be fixedly arranged on first pivotal axis with the second rudder face (22), first rudder face (21), second rudder face (22) with
The one end of first rudder face (21) far from first pivotal axis is pivotally connected；
When the rudder (2) is in first state, second rudder face (22) be stacked on first rudder face (21) and with
First rudder face (21) is detachable to be fixedly connected；When the rudder (2) is in the second state, second rudder face (22)
Be arranged side by side with first rudder face (21) and with first rudder face (21) is detachable is fixedly connected.
9. underwater robot according to claim 6, which is characterized in that the left elevator (3) include third rudder face and
4th rudder face, the third rudder face are fixedly arranged on second pivotal axis, and the 4th rudder face is with the third rudder face far from institute
State one end pivot joint of the second pivotal axis；
When the left elevator (3) is in first state, the 4th rudder face is stacked on the third rudder face and with described
Three rudder faces are detachable to be fixedly connected；When the left elevator (3) is in the second state, the 4th rudder face and the third rudder
Face be arranged side by side and with the third rudder face is detachable is fixedly connected；
The structure of the right elevator (4) is identical as the structure of the left elevator (3).
10. according to claim 1-7 any one of them underwater robots, which is characterized in that the propeller (5) is one
Or spaced two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820183434.3U CN207917114U (en) | 2018-02-01 | 2018-02-01 | Underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820183434.3U CN207917114U (en) | 2018-02-01 | 2018-02-01 | Underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207917114U true CN207917114U (en) | 2018-09-28 |
Family
ID=63603113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820183434.3U Expired - Fee Related CN207917114U (en) | 2018-02-01 | 2018-02-01 | Underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207917114U (en) |
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2018
- 2018-02-01 CN CN201820183434.3U patent/CN207917114U/en not_active Expired - Fee Related
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