CN209581817U - A kind of gravity sensing bidirectional thruster and the assistance robot waterborne using the propeller - Google Patents
A kind of gravity sensing bidirectional thruster and the assistance robot waterborne using the propeller Download PDFInfo
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- CN209581817U CN209581817U CN201920126167.0U CN201920126167U CN209581817U CN 209581817 U CN209581817 U CN 209581817U CN 201920126167 U CN201920126167 U CN 201920126167U CN 209581817 U CN209581817 U CN 209581817U
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- 230000002457 bidirectional effect Effects 0.000 title claims abstract description 23
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Abstract
The utility model provides a kind of gravity sensing bidirectional thruster and the assistance robot waterborne using the propeller, it passes through one end of kinetic pump is hinged, the other end swings setting, make the suction hose of setting symmetrical above and below, though the suction hose of which side downward when, kinetic pump can be transferred through gravity swing and be connected to underlying suction hose, realize that one group of kinetic pump just can be carried out self-regulation by self gravity, keep the Powered Propulsion of water life-saving robot, and simultaneously because there is the isolation of suction hose, no matter whether foreign matter is caught in trash rack, the swing of pump group will not all be interfered, propeller is solved under any working environment, the technical issues of energy gravity sensing is self-regulated, realize water life-saving robot under any working environment, energy gravity sensing self-regulation power output direction, and reduce the inclination angle between head and the water surface, subtract Small water resistance.
Description
Technical field
The utility model relates to assistance robotic technology field waterborne, specially a kind of gravity sensing bidirectional thruster and answer
With the assistance robot waterborne of the propeller.
Background technique
Lifebuoy is one kind of water survival gear, usually by foamed plastics or the lesser lightweight material system of other specific gravity
At, the shape of lifebuoy is cyclic annular, middle opening, and upper body is passed through middle opening and both hands are ridden on lifebuoy by user,
It can be floated on the surface in the state of loosening using the buoyancy of lifebuoy, when someone's unexpected overboard or when at sea rescuing, be saved
It rescues personnel to need to sail near drowning people or seabeach scene, then shed lifebuoy to drowning people, drowning people's crawl
It could safely continue waiting for rescuing after to lifebuoy, rescue personnel, which also just have ample time, more safely to be implemented to rescue
It helps.
Existing lifebuoy is all to need artificial throwing, and this aspect requires rescue personnel that must rush to overboard scene, but
If site environment is unfavorable for rescue boat navigation, extremely influence rescue work, or even can not be successfully implementation rescue, and if desired same
When to several drowning peoples apply rescue, then need to move repeatedly to each drowning people position, then shed lifebuoy respectively, cause
It is slow to rescue speed；On the other hand, lifebuoy is generally all more thick and heavy, and the easy of lighter in weight is hindered by wind-force or air
Power influence, the extremely difficult control of the accuracy for causing lifebuoy to be shed, and because drowning people be all mostly it is not natatory, it is some to swim
The drowning people of swimming can also consume a large amount of physical strength during waiting for rescue, if rescue personnel cannot be smoothly by lifebuoy
It shedding to beside drowning people, drowning people can not just catch lifebuoy, even if the extra lifebuoy of rescue personnel is shed again,
Also rescue work will greatly be delayed.
In addition, if drowning people position can not be driven into for lifeboat, or rescue personnel do not have lifeboat, use existing lifesaving
Equipment will be unable to sue and labour to drowning people.
A kind of self-powered remote-controlled lifebuoy is disclosed in the Chinese patent of Patent No. CN201820388502.X,
Lifebuoy ontology including U-shaped, it further includes the propeller for being installed on two end of lifebuoy ontology, storage battery, dynamic Control electricity
Road, reception device, remote controler；The power control circuit and propeller are electrical connected, and the reception device receives remote controler
Wireless signal, and propeller work is controlled by power control circuit；The propeller can 360 degree rotate freely, realize lifesaving
Circle can be directly thrown into water regardless of front and back sides to work.
But above-mentioned patent has the disadvantage in that
1, its propeller is during rotating freely for 360 degree, once foreign matter is caught at the trash rack of propeller, it will
Cause propeller that can not rotate；
2, its propeller is horizontal ejection water flow always, the water resistance of lifebuoy is big, and cruising ability is poor in progradation；
3, it works under the big environment of stormy waves, is easy to be influenced to be flipped by the spray.
Utility model content
In view of the above problems, the utility model provides a kind of gravity sensing bidirectional thruster, by by kinetic pump
One end is hinged, and the other end swings setting, makes the suction hose of setting symmetrical above and below, no matter the suction hose of which side is contacted with the water surface
When, kinetic pump can be transferred through gravity and swing and be located at the connection of corresponding suction hose, realize one group of kinetic pump by self gravity just
It can be carried out self-regulation, Powered Propulsion can be generated by guaranteeing that no matter positive and negative assistance robot waterborne which face be overboard, solve propeller
Kinetic pump by gravity sensing swing can be achieved with two-way pump spray the technical issues of.
To achieve the above object, the utility model provides the following technical solutions:
A kind of gravity sensing bidirectional thruster comprising:
Mounting base；
Arc panel, the arc panel is oppositely arranged with the mounting base, and is connected between the two by connector, should
Wobble area is formed between arc panel and the mounting base；
Kinetic pump, the kinetic pump is placed in the wobble area and one end and the mounting base are rotatablely connected, power
Pump its other end under its own gravity is moved along the surface of the arc panel；And
Suction hose, the suction hose are set to the other side of the arc panel relative to the kinetic pump, along the arc
The vertical direction of shape plate is symmetrical above and below to be provided with two groups, and is connected with the wobble area；
When water inlet on any suction hose and the water surface contact, one end of the kinetic pump arcuately plate guide swinging
When being rocked to the lower position of the arc panel by self gravitation effect, the kinetic pump and the water outlet on corresponding suction hose
Tone closes connection, at this point, one end that the kinetic pump is rotatablely connected with the mounting base tilts upwards.
As an improvement, it includes mounting disc, the distance between water inlet of two groups of suction hoses D1 is straight with the mounting disc
Relationship between diameter D2 meets: D1 > D2.
As an improvement, the mounting disc is extended with the water conservancy diversion flange of coaxial arrangement, institute relative to the side of the arc panel
One end end for stating kinetic pump and mounting base rotation connection is placed in the water conservancy diversion flange, and two sides pass through respectively to be connected accordingly
Axis and the mounting base are rotatablely connected；
One end of the kinetic pump arcuately plate guide swinging is rocked under the arc panel by self gravitation effect
When extreme position, the central axes of kinetic pump and the axis angle of mounting base are α, and the opening diameter of the water conservancy diversion flange is S1, described
The diameter that kinetic pump is located at end at the water conservancy diversion flange is S2, and relationship meets between α, S1 and S2 three: S1 > S2/cos α.
As an improvement, the longitudinal cross-section of the arc panel be it is arc-shaped, the center of circle of longitudinal cross-section is located at the connecting shaft
Between line on.
As an improvement, the kinetic pump includes:
Conduit, the conduit include mouth piece and pump spout, and the edge of the mouth piece is contacted with the arc panel always
Setting, and its shape is adapted with the opening shape of the water outlet, the pump spout is placed in the water conservancy diversion flange, and it is
It closes up and is arranged；And
Waterproof pump group, in the conduit, which is set to the conduit and leans on for the waterproof pump group coaxial arrangement
The nearly arc panel setting.
As an improvement, the opening shape of the water outlet of the suction hose matches with the appearance profile of the arc panel, into
The aperture position at the mouth of a river is parallel with the axis of the mounting base, and the side wall of the suction hose face its water inlet is arc knot
Structure, the center of circle of the longitudinal cross-section of the side wall are located at the side where its water inlet.
The beneficial effect of the utility model propeller is:
(1) the utility model utilizes one group compared with documents CN201820388502.X or less claims documents
Kinetic pump just can be carried out swing self-regulation by self gravity, contact any group of suction hose in two groups of suction hoses with the water surface
When, kinetic pump quickly can be connected to form power with the suction hose, no matter positive and negative so that propeller is can be suitably used for assistance robot waterborne
Which face is overboard can to generate Powered Propulsion, without adding clump weight, and documents, then need to add clump weight, realization pushes away
It is adjusted into device by the rotation that reaches of the gravity sensing of clump weight；
(2) the utility model is compared with documents, due to there is the isolation of suction hose, no matter whether foreign matter is caught in into water lattice
Grid will not all interfere the swing of kinetic pump, and even if foreign matter enters flowing and waterproof pump group company in suction hose from trash rack
The position connect can also fall back at trash rack because of the reason of gravity, can not interfere the swing of kinetic pump, and documents due to
It is rotation adjusting is carried out by clump weight, once foreign matter, which on trash rack, will lead to propeller, can not rotate adjusting,
Adaptability is poor
(3) the utility model is adjusted, rescue machine compared with compared with documents by the swing of kinetic pump gravity sensing
People is overboard, and kinetic pump is swung in place, and the kinetic pump in documents is when by 360 ° of rotations of gravity sensing, and not set limit
Position is easy to appear similar pendulum effect, and after lifebuoy falls into the water, kinetic pump can still be swung in water because of rotation, can not
Effective output power, and lifebuoy is at the time of being applied to more critical；
(4) the utility model is during kinetic pump is swung, setting mouth piece and the arc panel weight for being equipped with suction hose
Close and swing setting, when swinging kinetic pump in place, mouth piece with the water outlet of suction hose is closed docks, be that the suction of kinetic pump is logical
Progress water flow twitch on the water surface can be effectively transmitted to by crossing suction hose, and being not in that water flow is meaningless flees, and optimizes power
Output；
(5) waterproof pump group is set to one end in conduit close to arc panel by the utility model, makes waterproof pump group close to right
The suction hose answered, the suction force for generating waterproof pump group more effectively passes through corresponding suction hose and is discharged on the water surface, to the water surface
Suction power is formed, carries out forming water flow jet, forms more powerful driving force.
In view of the above problems, the utility model provides a kind of assistance robot waterborne, by by one end of kinetic pump
Hingedly, the other end swings setting, no matter contacting which face of assistance robot waterborne with the water surface, kinetic pump can be transferred through gravity bob
It is dynamic to be connected to corresponding suction hose, it quickly realizes the output of water life rescue people power, makes the dependence of assistance robot waterborne
Powered Propulsion, no matter solving which face of assistance robot waterborne is contacted with the water surface, can rapid output power the technical issues of.
To achieve the above object, the utility model provides the following technical solutions:
A kind of assistance robot waterborne, including lifebuoy main body and it is installed on the intracorporal energy resource system of lifebuoy master, institute
It states head that lifebuoy main body includes V-shaped and two alar parts for being symmetricly set on the both sides of the head, includes in the alar part
A kind of above-mentioned gravity sensing bidirectional thruster, the gravity sensing bidirectional thruster are respectively arranged in symmetrically by the mounting base
In the inner space for the alar part tail portion being arranged, and the waterproof pump group is electrically connected with the energy resource system, by the energy system
Command dynamic waterproof pump group operating.
As an improvement, the upper and lower of the alar part symmetrically offers water inlet compatible with the water inlet of the suction hose
Slot is equipped with trash rack on the intake chamber.
As an improvement, the head is the setting of flat shuttle shape, the first water conservancy diversion rib is symmetrically arranged with along the two sides of its central axes
Item, and it is provided with the second water conservancy diversion rib between the symmetrically arranged first water conservancy diversion rib, which is located at the head
The end in portion.
As an improvement, the first water conservancy diversion rib protrudes the height L1 on the head and the second water conservancy diversion rib protrudes institute
The height L2 for stating head, meets relationship: L1 > L2.
The beneficial effect of the utility model assistance robot waterborne is:
(1) the utility model is compared with documents, and by the way that one end of kinetic pump is hinged, the other end swings setting,
No matter contacting which face of assistance robot waterborne with the water surface, kinetic pump can be transferred through gravity and swing and corresponding suction hose company
It is logical, quickly realize the output of water life rescue people power, make assistance robot waterborne relies on Powered Propulsion, the utility model
Assistance robot waterborne without adding clump weight, and documents are then by adding clump weight on propeller, using matching
Pouring weight realizes that propeller center is uneven, and then realizes that propeller carries out rotation commutation；
(2) the utility model is compared with documents, and when being swung using kinetic pump gravity sensing, kinetic pump is finally inclined
Upward output power, and under the working environment that water wave is not too big, the water flow that kinetic pump sprays can make the water surface to assistance waterborne
The tail portion of robot generates a upward opposition, forms similar speedboat tail portion during traveling and passes through wave suppression plate pressure
The firmly technical effect of the water surface spray reduces the inclination angle between the head and the water surface of assistance robot waterborne, during traveling
Reduce water resistance, route speed faster, extends cruise duration, improves cruising ability, and the propeller of documents is in manned situation
Under be then to spray water flow push diagonally downward, the water surface can not generate opposition to it, can not effectively carry out pressure wave, head
Become larger due to body weight with the inclination angle of the water surface, so that head tilts, water resistance is big, leads to route speed and cruising ability
Difference；
(3) the utility model is compared with documents, and when being swung using kinetic pump gravity sensing, kinetic pump is finally inclined
It sets up, the water flow that kinetic pump sprays can make the water surface generate a upward acting in opposition to the tail portion of assistance robot waterborne
Power supports the gravity of human body, and assistance robot waterborne is made not to be upturned, and advances more steady, and documents, in human body
For volt when on lifebuoy, diagonally downward due to human bady gravitational, power output also diagonally downward, causes head to tilt, in water for tail portion
It in the working environment that the wave is high, easily topples, forms two subsidiary risks；
(4) for the utility model compared with documents, the assistance robot waterborne of the utility model is bigger in water wave
In working environment, corresponding it can become larger because of the factor of water wave resistance, head to the inclination angle of the water surface, and during inclination angle becomes larger, it moves
The outbound course of power pump can tend to be horizontal, generate bigger power and go to overcome the resistance of water wave, guarantee assistance robot waterborne
Power output, and documents, in the bigger working environment of water wave, the inclination angle of head and the water surface is bigger, kinetic pump
The power of output can be smaller；
(5) the first water conservancy diversion rib and the second water conservancy diversion rib is arranged to lifesaving in the utility model on the head of lifebuoy main body
The water flow of circle body head is oriented to, and the water wave generated to head guides, and water wave is made to pass through the first water conservancy diversion rib
Guidance, which is flow at the second water conservancy diversion rib, is concentrically formed upward lifting force, reduces the inclination angle between head and the water surface, reduces water
Resistance.
In conclusion the utility model has many advantages, such as that clever structure, two-way pump spray, cruising ability is strong, route speed is fast,
It is particularly suitable for assistance robotic technology field waterborne.
Detailed description of the invention
Fig. 1 is the utility model gravity sensing bidirectional thruster schematic perspective view one；
Fig. 2 is the utility model gravity sensing bidirectional thruster schematic cross-sectional view two；
Fig. 3 is the utility model mounting base stereochemical structure structural schematic diagram；
Fig. 4 is the utility model kinetic pump schematic cross-sectional view；
Fig. 5 is the utility model arc panel stereochemical structure structural schematic diagram；
Fig. 6 is the utility model conduit and mounting base schematic cross-sectional view；
Fig. 7 is that the utility model gravity sensing bidirectional thruster founds side structure schematic view；
Fig. 8 is two assistance robot waterborne schematic perspective view of the utility model embodiment；
Fig. 9 is the utility model assistance robot perspective cross-sectional schematic diagram waterborne；
Figure 10 is the utility model lifebuoy main body schematic cross-sectional view；
Figure 11 is the utility model gravity sensing bidirectional thruster schematic perspective view two；
Figure 12 is the utility model gravity sensing bidirectional thruster schematic cross-sectional view two；
Figure 13 is the utility model assistance robot backsight structural representation waterborne；
Figure 14 is the utility model head schematic cross-sectional view；
Figure 15 the utility model assistance robot positive structure diagram waterborne；
Figure 16 the utility model assistance robot waterborne works manned status diagram under the smaller working environment of water wave；
Figure 17 the utility model assistance robot waterborne works manned status diagram under the larger working environment of water wave；
Figure 18 is existing lifebuoy or assistance the robot waterborne working state schematic representation under unloaded operation environment；
Figure 19 is that existing lifebuoy or assistance robot waterborne show in the larger working environment downloading people's working condition of water wave
It is intended to.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside",
The orientation or positional relationship of the instructions such as " clockwise ", " counterclockwise " be based on the orientation or positional relationship shown in the drawings, be only for
Convenient for description the utility model and simplify description, rather than the equipment of indication or suggestion meaning or element must have specifically
Orientation is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.The meaning of " plurality " is two or two in the description of the present invention,
More than, unless otherwise specifically defined.
Embodiment 1:
As shown in Figures 1 and 2, a kind of gravity sensing bidirectional thruster, comprising:
Mounting base 1；
Arc panel 3, the arc panel 3 are oppositely arranged with the mounting base 1, and are connected between the two by connector 4
It connects, forms wobble area 30 between the arc panel 3 and the mounting base 1；
Kinetic pump 2, the kinetic pump 2 is placed in the wobble area 30 and one end and the mounting base 1 rotation connect
It connects, its other end under its own gravity of kinetic pump 2 is mobile along the surface of the arc panel (3)；And
Suction hose 5, the suction hose 5 is set to the other side of the arc panel 3 relative to the kinetic pump 2, along institute
State arc panel 3 vertical direction it is symmetrical above and below be provided with two groups, and be connected with the wobble area；
When water inlet 51 on any suction hose 5 and the water surface contact, the kinetic pump 2 arcuately 3 guide swinging of plate
One end when being rocked to the lower position of the arc panel 3 by self gravitation effect, the kinetic pump 2 and corresponding water suction
Water outlet 52 on pipe 5, which coincide, to be connected to, at this point, one end that the kinetic pump 2 is rotatablely connected with the mounting base 1 tilts upwards.
As shown in figure 5, further, the longitudinal cross-section of the arc panel 3 be it is arc-shaped, the center of circle of longitudinal cross-section is located at
On line between the connecting shaft 121.
As shown in figure 5, further, the opening shape of the water outlet 52 of the suction hose 5 is outer with the arc panel 3
Shape profile matches, and the aperture position of water inlet 51 is parallel with the axis of the mounting base 1, and 5 face of suction hose its into
The side wall 50 at the mouth of a river 51 is arcuate structure, and the center of circle of the longitudinal cross-section of the side wall 50 is located at the side where its water inlet 51.
It should be noted that the more existing assistance robot waterborne of the utility model either remote control life buoy waterborne,
Distinctive points are, can throw Yu Shuizhong regardless of the assistance robot waterborne by the utility model of front and back sides, waterborne help at this
After helping robot to fall into the water, the kinetic pump 2 on propeller can carry out self-regulation swing by gravity sensing, make kinetic pump
2 are quickly connected to the suction hose 5 being placed in water, and make assistance robot waterborne, obtain power immediately and advance.
It further illustrates, the mode of 2 gravity sensing of the kinetic pump self-regulation in the utility model is edge and mounting base 1
Tie point formed rotary shaft carry out rotary oscillation, with documents in propeller by clump weight carry out rotational gravity sense
Unlike the mode that should be self-regulated, the kinetic pump 2 of the utility model passes through the isolation of suction hose 5, swings kinetic pump 2
Be fearless in journey into trash rack 53 foreign matter interference, even if foreign matter is on trash rack 53 or foreign matter enters
In suction hose 5, kinetic pump 2 can carry out the swing of gravity sensing self-regulation.
It is emphasized that assistance robot waterborne is in use, machine is being helped by rescue personnel's volt on the water
On people, due to being concentrated on the rear portion of rescue robot by the weight of rescue personnel, the head of assistance robot waterborne is lifted, rescues
The water resistance for helping the water wave that robot is subject to just greatly increases, and in order to mitigate the weight of assistance robot waterborne tail portion, makes waterborne help
It helps the head weight of robot to be greater than aft weight as far as possible, to overcome the problems, such as that head tilts, while realizing promote again
Device can spray direction with automatic-adjusting pump, to adapt to the demand of assistance robot waterborne two-way operation, pass through in the utility model dynamic
The gravity of power pump 2 itself carries out swinging the mode of adjustment being optimal implementation, any without increasing compared with documents
Counter weight device reduces weight, while realizing assistance robot waterborne two-way operation again.
It further explains, in the utility model, in order to avoid kinetic pump 2 is flowed out by the water that suction hose 5 aspirates
Now flee, it is preferred to be set on the arc panel 3 of arc using by the coincidence of water outlet 52 of suction hose 5, by the pump of kinetic pump 2
The edge shape of suction inlet 211 and the arc anastomosis of arc panel 3 are arranged, the process for swinging kinetic pump 2 in gravity sensing self-regulation
In, realization is swung along the cambered surface of arc panel 3, and the edge of mouth piece 211 has arc panel 3 to be sealed, and mouth piece
After 211 are connected to water outlet 52, due to the blocking of arc panel 3, water flow will not be from the connection position of mouth piece 211 and water outlet 52
The place of setting is fled.
It is worth noting that arc panel 3 in order to prevent flee by water flow, cooperation is sealed between arc panel 3 and kinetic pump 2,
In addition, arc panel 3 also provides guiding for the swing of kinetic pump 2.
As shown in Fig. 3 and Fig. 6, as a preferred embodiment, the mounting disc 13 is relative to the arc panel 3
Side is extended with the water conservancy diversion flange 12 of coaxial arrangement, and the kinetic pump 2 and one end end of the mounting base 1 rotation connection are placed in this
In water conservancy diversion flange 12, two sides are rotatablely connected by corresponding connecting shaft 121 with the mounting base 1 respectively；
One end of the kinetic pump 2 arcuately 3 guide swinging of plate is rocked to the arc panel 3 by self gravitation effect
When lower position, the central axes of kinetic pump 2 and the axis angle of mounting base 1 are α, and the opening diameter of the water conservancy diversion flange 12 is
S1, the diameter that the kinetic pump 2 is located at end at the water conservancy diversion flange 12 is S2, and relationship meets between α, S1 and S2 three: S1 >
S2/cosα。
It should be noted that in order to guarantee that the water flow that kinetic pump 2 ejects does not cover generation blocking by water conservancy diversion flange 12,
The opening diameter S1 and kinetic pump 2 of water conservancy diversion flange 12, which are located at the water conservancy diversion flange 12, must satisfy S1 > between the diameter S2 of end
S2/cos α, i.e. water conservancy diversion flange 12 will not have an impact the water flow jet of kinetic pump 2.
As shown in fig. 7, as a preferred embodiment, the mounting base (1) is flange disk-like structure comprising peace
Relationship between the diameter D2 of sabot 13, the distance between water inlet 51 of two groups of suction hoses 5 D1 and the mounting disc 13, it is full
Foot: D1 > D2.
It should be noted that in the utility model the distance between preferred water inlet 51 D1 and the mounting disc 13 it is straight
Relationship between diameter D2, meet: D1 > D2, be in order to make propeller global shape formed water inlet 51 at volume profiles it is big,
The shuttle shape that volume profiles are small at spout 311 is pumped, propeller tail portion wave making situation is changed, the wave making for reducing propeller tail portion is splashed with water
Situation reduces the water resistance in assistance robot waterborne traveling process.
It further illustrates, since kinetic pump 2 tilts upward injection water, water flow is in camber line to the rear of kinetic pump 2
It projects, the kinetic pump of more existing horizontal-jet water flow, wave making splashes at a distance from region distance kinetic pump 2 with water greater than existing
Kinetic pump splashes region efficiently away from wave making and water, reduces the water resistance in assistance robot waterborne traveling process.
As shown in figure 4, as a preferred embodiment, the kinetic pump 2 includes:
Conduit 21, the conduit 21 include mouth piece 211 and pump spout 212, the edge of the mouth piece 211 always with institute
The contact setting of arc panel 3 is stated, and its shape is adapted with the opening shape of the water outlet 52, the pump spout 212 is placed in institute
It states in water conservancy diversion flange 12, and it is setting of closing up；And
Waterproof pump group 22, in the conduit 21, which is set to institute for the coaxial arrangement of waterproof pump group 22
Conduit 21 is stated to be arranged close to the arc panel 3.
As shown in Figure 4, it should be noted that waterproof pump group 22 runs through the suction hose being connected to the conduit 21
5 draw water flows, sprayed from the mounting base 1 to be formed power waterproof pump group 22 include motor cabinet 221, motor 222 and blade
223 compositions, this specific structure is in 03 month 2018 Patent No. CN201810241803.4 filed in 22 days of applicant
It is recorded in detail in a kind of open deep-water motor and processing technology.
It further illustrates, waterproof pump group 22 is set to the conduit 21 close to one end of the arc panel 3, makes to prevent
The suction force that water pump group 22 generates more effectively passes through corresponding suction hose 5 and is discharged on the water surface, forms suction power to the water surface,
It carries out forming water flow jet, forms more powerful driving force.
As shown in Figure 1, as a preferred embodiment, along the horizontal two sides pair of its vertical direction on the arc panel 3
Title is provided with interconnecting piece 31, and the mounting disc 13 is provided with symmetrical link block 11, the company with 21 hinge point of conduit
It is arranged between socket part 31 and the link block 11 by 4 horizontal connection of connector.
It should be noted that the stability in order to guarantee propeller entirety, passes through company between arc panel 3 and mounting base 1
The two is connected to form one by fitting 4, the vibration generated during the work time against propeller.
It further illustrates, the connector 4 in the utility model is preferably carbon beam, and carbon beam is directly spent, and not by water ring
The influence in border, cost are also very cheap.
As shown in Figure 1, as a preferred embodiment, the installation branch of motor driver is arranged between suction hose 5
Frame 54 carries out cooling treatment to the motor driver being mounted in mounting bracket 54 using the arc guide face of suction hose 5, guarantees
The operating temperature of motor driver is in preferably range, adjusts motor driver more preferably to waterproof pump group 22
Speed.
Embodiment 2:
Fig. 8 is a kind of a kind of structural schematic diagram of the embodiment two of assistance robot waterborne of the utility model；Such as Figure 11 institute
Show, wherein appended drawing reference corresponding with embodiment one is used with a kind of identical or corresponding component of embodiment, for simplicity, under
Text only describes the distinctive points with embodiment one.The embodiment two and embodiment one shown in FIG. 1 the difference is that:
As shown in Fig. 8, Fig. 9 and Figure 14, a kind of assistance robot waterborne, including lifebuoy main body 6 and it is installed on the lifesaving
The energy resource system 7 in main body 6 is enclosed, the lifebuoy main body 6 includes that the head 61 of V-shaped and two are symmetricly set on the head
The alar part 62 of 61 two sides includes a kind of gravity sensing bidirectional thruster described in above-described embodiment 1 in the alar part 62,
The gravity sensing bidirectional thruster is respectively arranged in the inside of symmetrically arranged 62 tail portion of the alar part by the mounting base 1
Waterproof pump group 22 in space, and in the kinetic pump 2 is electrically connected with the energy resource system 7, drives waterproof by the energy resource system 7
Pump group 22 operates.
As shown in Figure 14 and Figure 15, further, the head 61 is the setting of flat shuttle shape, along the two sides pair of its central axes
Title is provided with the first water conservancy diversion rib 611, and is provided with the second water conservancy diversion rib between the symmetrically arranged first water conservancy diversion rib 611
612, which is located at the end on the head 61.
Further, the first water conservancy diversion rib 611 protrudes the height L1 and the second water conservancy diversion rib on the head 61
Item 612 protrudes the height L2 on the head 61, meets relationship: L1 > L2.
It should be noted that the utility model preferably will in order to minimize the water surface to the water resistance of assistance robot waterborne
The head 61 of lifebuoy main body 6 is designed as shuttle shape, and along the direction of travel of lifebuoy main body 6, front end position is in wedge angle on head 61
Setting, gradually expands, and the smooth setting in surface backward.
As shown in Figure 14 and Figure 16, also, energy resource system 7 is preferably set in head 61 by the utility model, to increase
The weight on head 61, balance are rescued the distribution of weight after people lies prostrate in lifebuoy main body 6, head 61 are made to help machine on the water
It is controlled in the range of resistance minimum as far as possible during people's advance with the inclination angle of the water surface.
As shown in figures 13 and 14, further explanation, the energy resource system 7 in the utility model include energy-storage battery 71
With charging connector 72, energy-storage battery is for storing power supply, and tight power supply kinetic pump 2, and charging connector 72 is then for storage
Energy battery charges, and is additionally provided with waterproof sealing lid outside the charging connector 72, in addition, control switch 73 is also disposed on head
On 61, control switch controls kinetic pump 2 and operates.
As shown in Figure 15 and Figure 16, further explanation, in order to make head 61 that robot be helped to advance on the water
It is controlled in the range of resistance minimum as far as possible with the angle of inclination beta of the water surface in the process, the utility model on head 61 by being arranged
One water conservancy diversion rib 611 and the second water conservancy diversion rib 612, the flow-guiding channel formed using symmetrically arranged first water conservancy diversion rib 611
613, by water wave water conservancy diversion in flow-guiding channel 613, when water wave flows at the second water conservancy diversion rib 612, since stream rib 512 is convex
The height on the head 61 protrudes the height on the head 61 less than the first water conservancy diversion rib 611 out, and water wave is to the second water conservancy diversion rib
612 generate upward impact force F4, make to form the trend being lifted up at 612 position of the second water conservancy diversion rib, so that
The front end on head 61 adjusts downwards, reduces the angle of inclination beta between the water surface.
It is emphasized that the position of impact force F4 is located at the rear side on head 61, cooperate kinetic pump 2 on alar part 52
Reaction force F3 forms the head 61 of assistance robot waterborne and has a down dip.
As shown in Figure 10, Figure 11 and Figure 12, as a preferred embodiment, the water inlet 51 and the alar part 62
Installed position cover and be provided with trash rack 53, the kinetic pumps 2 of 53 pairs of trash rack swings carry out swing limit
Position
It should be noted that mitigating the weight of kinetic pump 2 to simplify structure, the utility model preferably passes through water inlet lattice
Grid 53 carry out the limit in swing process to kinetic pump 2, reduce the use of limiting device, meanwhile, trash rack 53 also stops
Large-scale foreign matter enters in kinetic pump 2 work for influencing kinetic pump 2.
As a preferred embodiment, when assistance robot is in unloaded situation on the water, 2 work of kinetic pump
Make, inclination angle alpha is preferably 5-25 °.
It should be noted that when in water wave lesser waters, the utility model is in order to reduce assistance robot waterborne
The water wave resistance on head tilts upward setting by carrying out kinetic pump 2, make water wave spray generate power when injection direction by
Lower inclination upwards sprays, and assistance robot waterborne is made to advance forward, and tilts the mistake for spraying water flow from bottom to top in kinetic pump 2
Cheng Zhong forms power F1, and the tail portion that assistance robot waterborne is equipped with kinetic pump is in traveling process and just will receive the water surface
The opposition given i.e. resistance F2, resistance F2, which can generate the upward firmly F3 that is allocated as, forces assistance robot waterborne to be pacified
It is lifted up at tail portion equipped with kinetic pump, and then reaches assistance robot head waterborne and push, the head of assistance robot waterborne
Just become smaller after subordinate's pressure with the angle of inclination beta of the water surface, the resistance by water wave also reduces.
It further illustrating, the inclination angle of 2 heeling pump of kinetic pump spray is preferably 5-25 ° in the utility model, angle too small,
The effect that will cause rescue machine head part pushing is unobvious, and angle is excessive, and it will cause assistance robot head subordinates waterborne
It is heavy excessive, the case where will cause assistance robot head wave making waterborne instead and splash seriously, water surface resistance is caused to increase instead
Occur.
Embodiment 3:
Figure 17 is a kind of a kind of structural schematic diagram of the embodiment two of assistance robot waterborne of the utility model；Such as Figure 11 institute
Show, wherein appended drawing reference corresponding with embodiment one is used with a kind of identical or corresponding component of embodiment, for simplicity, under
Text only describes the distinctive points with embodiment one.The embodiment two and embodiment one shown in FIG. 1 the difference is that:
As shown in figure 17, at waters biggish in water wave, the water resistance that assistance robot waterborne encounters is also bigger, water
Resistance is bigger, and head 61 corresponding can become larger to the inclination angle β ˊ of the water surface, and during inclination angle β ˊ becomes larger, inclination angle β ˊ is greater than in embodiment 2
Angle of inclination beta, the outbound course of kinetic pump 2 can tend to be horizontal, generate bigger power F1 ˊ, and power F1 ˊ is greater than in embodiment 2
Power F removes the resistance F2 ˊ for overcoming water wave, guarantees the power output of assistance robot waterborne, makes assistance robot waterborne more rapidly
Breakthrough water wave.
As shown in Figure 18 and Figure 19, further explanation, existing lifebuoy either assistance robot waterborne is locating
It is horizontal output power F5 when zero load, and when manned is output power F5 ˊ diagonally downward, and is in the biggish waters of water wave
When, the existing lifebuoy angle that either assistance robot waterborne tilts upward output power F5 ˊ can become much larger, lifesaving
The circle either head of assistance robot waterborne and the inclination angle of the water surface can become much larger, the resistance F6 for cooperating the impact of water wave to generate
ˊ, resistance F6 ˊ decomposite a downward component F7, under the action of component F7, it is easy to cause lifebuoy is either waterborne to help
It helps robot to topple, makes to be rescued personnel's two subsidiary risks of appearance.
And in the utility model, although the outbound course of kinetic pump 2 tends to be horizontal, bigger power F1 ˊ is generated,
It is that can still generate the upward firmly F3 ˊ that is allocated as at resistance F2 ˊ to be supported the tail portion of assistance robot waterborne, and even if β
ˊ becomes larger, but water wave becomes larger, and resistance F2 ˊ becomes larger, and what is decomposited is allocated as firmly F3 ˊ and also can accordingly become larger, and resistance F2 ˊ becomes larger,
Generating upward impact force F4 ˊ also in the second water conservancy diversion rib 612 can become larger accordingly, still can be to the steady of assistance robot waterborne
Good effect is generated, guarantees that assistance robot waterborne will not topple.
Embodiment 4:
For simplicity, the distinctive points with embodiment 1 to embodiment 2 are hereafter only described.The embodiment 3 and embodiment 1 to
Embodiment 2 the difference is that:
A kind of assistance robot waterborne, between the distance between water inlet 51 D1 and the diameter D2 of the mounting disc 13
Relationship, meet: D1 > D2, and its 2 heeling pump of kinetic pump spray inclination angle be 5 °, also, its first water conservancy diversion rib 611 protrude institute
The height L1 and the second water conservancy diversion rib 612 that state head 61 protrude the height L2 on the head 61, meet relationship: L1 > L2,
The various performance parameters of the assistance robot waterborne are as shown in the table:
The assistance robot performance parameter waterborne of one embodiment of table 3
Embodiment 5:
For simplicity, the distinctive points with embodiment 1 to embodiment 3 are hereafter only described.The embodiment 4 and embodiment 1 to
Embodiment 3 the difference is that:
A kind of assistance robot waterborne, between the distance between water inlet 51 D1 and the diameter D2 of the mounting disc 13
Relationship, meet: D1 > D2, and its 2 heeling pump of kinetic pump spray inclination angle be 15 °, also, its first water conservancy diversion rib 611 protrude
The height L1 on the head 61 and the second water conservancy diversion rib 612 protrude the height L2 on the head 61, meet relationship: L1 >
The various performance parameters of L2, the assistance robot waterborne are as shown in the table:
The assistance robot performance parameter waterborne of two embodiment of table 4
Embodiment 6:
For simplicity, the distinctive points with embodiment 1 to embodiment 4 are hereafter only described.The embodiment 5 and embodiment 1 to
Embodiment 4 the difference is that:
A kind of assistance robot waterborne, between the distance between water inlet 51 D1 and the diameter D2 of the mounting disc 13
Relationship, meet: D1 > D2, and its 2 heeling pump of kinetic pump spray inclination angle be 25 °, also, its first water conservancy diversion rib 611 protrude
The height L1 on the head 61 and the second water conservancy diversion rib 612 protrude the height L2 on the head 61, meet relationship: L1 >
The various performance parameters of L2, the assistance robot waterborne are as shown in the table:
The assistance robot performance parameter waterborne of three embodiment of table 5
Comparative examples 1:
The self-powered remote-controlled lifebuoy of one kind that this comparative examples is documents CN201820388502.X
Various performance parameters, detail parameters are as shown in the table:
The assistance robot performance parameter waterborne of four embodiment of table 5
Comparative examples 2:
For simplicity, the distinctive points with embodiment 1 to embodiment 5 are hereafter only described.The comparative examples 1 and implementation
Example 1 to embodiment 5 the difference is that:
A kind of assistance robot waterborne, between the distance between water inlet 51 D1 and the diameter D2 of the mounting disc 13
Relationship, meet: D1 > D2, and its 2 heeling pump of kinetic pump spray inclination angle be 5 ° of <, also, its first water conservancy diversion rib 611 protrude
The height L1 on the head 61 and the second water conservancy diversion rib 612 protrude the height L2 on the head 61, meet relationship: L1 >
The various performance parameters of L2, the assistance robot waterborne are as shown in the table:
The assistance robot performance parameter waterborne of five comparative examples of table 1
Comparative examples 3:
For simplicity, the distinctive points with embodiment 1 to embodiment 5 are hereafter only described.The comparative examples 2 and implementation
Example 1 to embodiment 5 the difference is that:
A kind of assistance robot waterborne, between the distance between water inlet 51 D1 and the diameter D2 of the mounting disc 13
Relationship, meet: D1 > D2, and the inclination angle of its 2 heeling pump of kinetic pump spray is 25 ° of >, also, its first water conservancy diversion rib 611 is convex
The height L1 on the head 61 and the second water conservancy diversion rib 612 protrude the height L2 on the head 61 out, meet relationship: L1 >
The various performance parameters of L2, the assistance robot waterborne are as shown in the table:
The assistance robot performance parameter waterborne of six comparative examples of table 2
Comparative examples 4:
For simplicity, the distinctive points with embodiment 1 to embodiment 5 are hereafter only described.The comparative examples 3 and implementation
Example 1 to embodiment 5 the difference is that:
A kind of assistance robot waterborne, between the distance between water inlet 51 D1 and the diameter D2 of the mounting disc 13
Relationship, meet: D1≤D2, and its 2 heeling pump of kinetic pump spray inclination angle be 15 °, also, its first water conservancy diversion rib 611 protrude
The height L1 on the head 61 and the second water conservancy diversion rib 612 protrude the height L2 on the head 61, meet relationship: L1 >
The various performance parameters of L2, the assistance robot waterborne are as shown in the table:
The assistance robot performance parameter waterborne of seven comparative examples of table 3
Comparative examples 5:
For simplicity, the distinctive points with embodiment 1 to embodiment 5 are hereafter only described.The comparative examples 4 and implementation
Example 1 to embodiment 5 the difference is that:
A kind of assistance robot waterborne, between the distance between water inlet 51 D1 and the diameter D2 of the mounting disc 13
Relationship, meet: D1 > D2, and its 2 heeling pump of kinetic pump spray inclination angle be 15 °, also, its first water conservancy diversion rib 611 protrude
The height L1 on the head 61 and the second water conservancy diversion rib 612 protrude the height L2 on the head 61, meet relationship: L1≤
The various performance parameters of L2, the assistance robot waterborne are as shown in the table:
The assistance robot performance parameter waterborne of eight comparative examples of table 4
Embodiment 3 applies the assistance robot performance parameter pair waterborne of example 5 to embodiment 5 and comparative examples 1 to control
Than see the table below:
Nine data comparison of table
As shown in Table 8 to draw a conclusion:
1, by embodiment 3 to embodiment 5, the performance parameter of comparative examples 1 compares it is found that the utility model is in structure
On improve after, performance parameter be much better than the existing same industry lifebuoy either assistance robot waterborne performance ginseng
Number；
2, it is compared by the performance parameter of embodiment 3 to embodiment 5 and comparative examples 2 to comparative examples 3 it is found that In
Guarantee relationship of the distance between the water inlet 51 between D1 and the diameter D2 of the mounting disc 13, meet: D1 > D2 guarantees first
The height L1 that water conservancy diversion rib 611 protrudes the head 61 protrudes the height L2 on the head 61 with the second water conservancy diversion rib 612,
Meet relationship: L1 > L2, under the conditions of the two, using the inclination angle of 2 heeling pump of kinetic pump spray as variable, it is known that being at inclination angle
5-25 ° within the scope of this, the speed of a ship or plane and cruise duration of the assistance robot waterborne in fresh water and seawater are superior to inclination angle less than 5 °
Be greater than 25 ° the case where, it follows that inclination angle be 5-25 ° when, the pressure wave effect of assistance robot waterborne is preferable, water resistance compared with
It is small；
3, by the comparison of the performance parameter of embodiment 4 and comparative examples 4 it is found that the inclination angle of its 2 heeling pump of kinetic pump spray
It is 15 °, the first water conservancy diversion rib 611 protrudes the height L1 on the head 61 and the second water conservancy diversion rib 612 protrudes the head
61 height L2, meets relationship: L1 > L2, under the conditions of the two, with the distance between water inlet 51 D1 and the mounting disc
Relationship between 13 diameter D2 is variable, it is known that meeting relationship in D1 and D2: when D1 > D2, assistance robot waterborne
Fresh water in seawater the speed of a ship or plane be superior to cruise duration, meet relationship in D1 and D2: when D1≤D2, assistance robot waterborne
The speed of a ship or plane and cruise duration in fresh water and seawater, it follows that meeting relationship in D1 and D2: when D1 > D2, assistance machine waterborne
The pressure wave effect of device people is preferable, and water resistance is smaller；
4, by the performance parameter of embodiment 4 and comparative examples 5 compare it is found that guarantee water inlet 51 between away from
From the relationship between D1 and the diameter D2 of the mounting disc 13, meet: D1 > D2, and the inclination angle of its 2 heeling pump of kinetic pump spray is
15 °, under the conditions of the two, the height L1 and the second water conservancy diversion rib 612 on the head 61 are protruded with the first water conservancy diversion rib 611
Protruding the relationship between the height L2 on the head 61 is variable, it is known that meeting relationship in L1 and L2: when L1 > L2, water
Upper assistance robot fresh water in seawater the speed of a ship or plane be superior to cruise duration, meet relationship in L1 and L2: when L1≤L2, water
The speed of a ship or plane and cruise duration of the upper assistance robot in fresh water and seawater, it follows that meeting relationship in L1 and L2: L1 > L2
When, the pressure wave effect of assistance robot waterborne is preferable, and water resistance is smaller.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. a kind of gravity sensing bidirectional thruster characterized by comprising
Mounting base (1)；
Arc panel (3), the arc panel (3) are oppositely arranged with the mounting base (1), and pass through connector (4) phase between the two
Connection forms wobble area (30) between the arc panel (3) and the mounting base (1)；
Kinetic pump (2), the kinetic pump (2) is placed in the wobble area (30) and one end and the mounting base (1) rotate
Connection, kinetic pump (2) its other end under its own gravity are mobile along the surface of the arc panel (3)；And
Suction hose (5), the suction hose (5) are set to the other side of the arc panel (3) relative to the kinetic pump (2),
Two groups are provided with along the vertical direction of the arc panel (3) is symmetrical above and below, and is connected with the wobble area；
When water inlet (51) and the water surface on any suction hose (5) contact, arcuately plate (3) is oriented to the kinetic pump (2)
One end of swing by self gravitation effect be rocked to the lower position of the arc panel (3) when, the kinetic pump (2) with it is corresponding
Suction hose (5) on water outlet (52) coincide connection, at this point, the kinetic pump (2) and the mounting base (1) rotation connection
One end tilts upwards.
2. a kind of gravity sensing bidirectional thruster according to claim 1, which is characterized in that the mounting base (1) is method
Blue disk-like structure comprising mounting disc (13), the distance between water inlet (51) of two groups of suction hoses (5) D1 and the mounting disc
(13) the relationship between diameter D2 meets: D1 > D2.
3. a kind of gravity sensing bidirectional thruster according to claim 2, which is characterized in that the mounting disc (13) is opposite
The water conservancy diversion flange (12) of coaxial arrangement, the kinetic pump (2) and the mounting base (1) are extended in the side of the arc panel (3)
One end end of rotation connection is placed in the water conservancy diversion flange (12), and two sides pass through corresponding connecting shaft (121) and the peace respectively
Fill seat (1) rotation connection；
One end of the kinetic pump (2) arcuately plate (3) guide swinging is rocked to the arc panel (3) by self gravitation effect
Lower position when, the axis angle of the central axes of kinetic pump (2) and mounting base (1) is α, the opening of the water conservancy diversion flange (12)
Diameter is S1, and the diameter that the kinetic pump (2) is located at end at the water conservancy diversion flange (12) is S2, relationship between α, S1 and S2 three
Meet: S1 > S2/cos α.
4. a kind of gravity sensing bidirectional thruster according to claim 3, which is characterized in that the arc panel (3) is indulged
To section be it is arc-shaped, the center of circle of longitudinal cross-section is on the line between the connecting shaft (121).
5. a kind of gravity sensing bidirectional thruster according to claim 3, which is characterized in that the kinetic pump (2) includes:
Conduit (21), the conduit (21) include mouth piece (211) and pump spout (212), and the edge of the mouth piece (211) begins
It is whole that setting is contacted with the arc panel (3), and its shape is adapted with the opening shape of the water outlet (52), the pump spout
(212) it is placed in the water conservancy diversion flange (12), and it is setting of closing up；And
Waterproof pump group (22), waterproof pump group (22) coaxial arrangement is in the conduit (21), the waterproof pump group (22) setting
It is arranged in the conduit (21) close to the arc panel (3).
6. a kind of gravity sensing bidirectional thruster according to claim 1, which is characterized in that the suction hose (5) goes out
The opening shape at the mouth of a river (52) matches with the appearance profile of the arc panel (3), the aperture position of water inlet (51) with it is described
The axis of mounting base (1) is parallel, and the side wall (50) of suction hose (5) face its water inlet (51) is arcuate structure, the side
The center of circle of the longitudinal cross-section of wall (50) is located at the side where its water inlet (51).
7. a kind of assistance robot waterborne, including lifebuoy main body (6) and the energy resource system being installed in the lifebuoy main body (6)
(7), the lifebuoy main body (6) includes the head (61) of V-shaped and the alar part that two are symmetricly set on head (61) two sides
(62), which is characterized in that include a kind of gravity sensing Bidirectional pulling described in any one of claims 1-6 in the alar part (62)
Into device, which is respectively arranged in the symmetrically arranged alar part (62) tail by the mounting base (1)
Waterproof pump group (22) in the inner space in portion, and in the kinetic pump (2) is electrically connected with the energy resource system (7), by the energy
Source system (7) drives waterproof pump group (22) operating.
8. a kind of assistance robot waterborne according to claim 7, which is characterized in that the upper and lower pair of the alar part (62)
Title offers the compatible intake chamber (621) with the water inlet (51) of the suction hose (5), is equipped on the intake chamber (621)
Trash rack (53).
9. a kind of assistance robot waterborne according to claim 7, which is characterized in that the head (61) is flat shuttle shape
Setting, is symmetrically arranged with the first water conservancy diversion rib (611), and the symmetrically arranged first water conservancy diversion rib along the two sides of its central axes
(611) the second water conservancy diversion rib (612) is provided between, which is located at the end on the head (61).
10. a kind of assistance robot waterborne according to claim 9, which is characterized in that the first water conservancy diversion rib (611)
The height L1 and the second water conservancy diversion rib (612) that protrude the head (61) protrude the height L2 of the head (61), meet
Relationship: L1 > L2.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920126167.0U CN209581817U (en) | 2019-01-25 | 2019-01-25 | A kind of gravity sensing bidirectional thruster and the assistance robot waterborne using the propeller |
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|---|---|---|---|
| CN201920126167.0U CN209581817U (en) | 2019-01-25 | 2019-01-25 | A kind of gravity sensing bidirectional thruster and the assistance robot waterborne using the propeller |
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| CN209581817U true CN209581817U (en) | 2019-11-05 |
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ID=68380474
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020151372A1 (en) * | 2019-01-25 | 2020-07-30 | 浙江华船海工科技有限公司 | Gravity-sensing two-way propeller and water rescue robot using same |
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2019
- 2019-01-25 CN CN201920126167.0U patent/CN209581817U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020151372A1 (en) * | 2019-01-25 | 2020-07-30 | 浙江华船海工科技有限公司 | Gravity-sensing two-way propeller and water rescue robot using same |
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Effective date of registration: 20220823 Address after: Room 801, Unit 1, Building 39, Yi Century City Garden, Xingguang Community, Donghu Street, Yuhang District, Hangzhou City, Zhejiang Province, 311199 Patentee after: Lu Yiting Address before: 311121 room 211, 2 / F, block B, building 8, No. 1, cangxing street, Cangqian street, Yuhang District, Hangzhou City, Zhejiang Province Patentee before: Haijimen (Hangzhou) Technology Development Co.,Ltd. |
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Effective date of registration: 20231226 Address after: Room 109, Building 1, No. 5 Beisha East Road, Donghu Street, Linping District, Hangzhou City, Zhejiang Province, 311103 Patentee after: Zhejiang Corona New Energy Co.,Ltd. Address before: Room 801, Unit 1, Building 39, Yi Century City Garden, Xingguang Community, Donghu Street, Yuhang District, Hangzhou City, Zhejiang Province, 311199 Patentee before: Lu Yiting |
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