CN210063333U - Six-degree-of-freedom underwater robot - Google Patents
Six-degree-of-freedom underwater robot Download PDFInfo
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- CN210063333U CN210063333U CN201920693578.8U CN201920693578U CN210063333U CN 210063333 U CN210063333 U CN 210063333U CN 201920693578 U CN201920693578 U CN 201920693578U CN 210063333 U CN210063333 U CN 210063333U
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Abstract
The utility model relates to a six-freedom underwater robot, which comprises a frame, a buoyancy module, an underwater cabin body, an underwater pressure lamp and a power system, wherein the underwater cabin body is arranged at the middle position of the frame, the buoyancy module is arranged at the two sides of the frame and is positioned at the upper position of the frame, and the underwater pressure lamp is arranged at the lower part of the frame; the power system comprises a horizontal propeller horizontally arranged on the rack and a vertical propeller vertically arranged on the rack, wherein the vertical propeller is vertically arranged on two sides of the rack, and the horizontal propeller is horizontally arranged on the inner side of the rack. The power system is arranged in multiple directions, so that the movement mode and the movement direction of the underwater robot can be increased, and the underwater flexibility of the underwater robot is greatly improved.
Description
Technical Field
The utility model relates to an underwater robot technique, specifically speaking relate to an adopt many propellers to realize six open source underwater robot of freely acting.
Background
In recent years, China has been exploring the ocean deeply, and underwater robots are important equipment for exploring the ocean all the time no matter in scientific research or commercial application, and a plurality of remote control underwater robots with cables are applied. The remote control underwater robot is mainly composed of a frame, a buoyancy material, a propeller, a control cabin, a cable and water surface equipment. Common remote control underwater robots mainly include the following types:
the first type is a simple underwater robot, the propellers are placed in a horizontal two-parallel mode or in a four-diagonal mode and in a vertical mode, and the simple advancing, retreating, floating and sinking can be achieved. However, the underwater robot in the form is inconvenient to turn, low in diving depth and inflexible to move underwater.
The second type is a deep sea underwater robot of scientific research level, and the arrangement mode of its propeller is various, can be in the removal of freedom under water, and the manipulation is convenient, moves in a flexible way. However, the underwater robot is large in size and high in cost, only four-degree-of-freedom motions can be realized, and only a few scientific research institutions can bear the burden of use.
The existing underwater robot has the main problems of insufficient freedom of movement during underwater operation and high manufacturing and maintenance cost.
Disclosure of Invention
The utility model aims at overcoming the defects in the prior art and providing an underwater robot which can move with six degrees of freedom and has relatively low cost.
A six-degree-of-freedom underwater robot comprises a rack, buoyancy modules, underwater cabin bodies, underwater pressure-resistant lamps and a power system, wherein the underwater cabin bodies are arranged in the middle of the rack, the buoyancy modules are arranged on two sides of the rack and located at the upper part of the rack, and the underwater pressure-resistant lamps are arranged at the lower part of the rack; the power system comprises a horizontal propeller horizontally arranged on the rack and a vertical propeller vertically arranged on the rack, wherein the vertical propeller is vertically arranged on two sides of the rack, and the horizontal propeller is horizontally arranged on the inner side of the rack. The left side and the right side of the frame are symmetrically provided with the buoyancy modules, so that the robot can be in a horizontal balance state when underwater, and the buoyancy modules are made of buoyancy materials and can support the whole robot to hover underwater. The underwater pressure-resistant lamp is arranged at the front end of the frame, is powered by a battery in the battery compartment and is used for illumination during underwater operation. The shell of the propeller is fixed on the frame and is powered by a battery in the battery compartment.
Preferably, the frame comprises a bottom plate, side plates, side protection plates and a front supporting plate, wherein the side plates are vertically fixed on the left side and the right side of the bottom plate, the side protection plates are fixed on the outer sides of the left bottom plate and the right bottom plate, and the front supporting plate is fixed on the inner sides of the left bottom plate and the right bottom plate. The underwater robot adopts a modular design, and the rack is provided with a plurality of holes, so that the buoyancy module, the underwater cabin body, the underwater pressure lamp and the power system can be conveniently and detachably mounted.
Preferably, the frame further comprises a rear supporting plate, the rear supporting plate is fixed on the inner sides of the left and right bottom plates, and the rear supporting plate is located at the rear end of the front supporting plate. Through set up the buoyancy module in preceding fagging and back fagging, be convenient for dispose the buoyancy module of different buoyancy according to the front and back quality of robot to be convenient for keep underwater robot's balance.
Preferably, the rack further comprises a battery compartment fixing ring and a control compartment fixing ring, the arc-shaped control compartment fixing ring is fixed on the front supporting plate or the rear supporting plate, and the battery compartment fixing ring is fixed on the bottom plate. The battery compartment is fixed conveniently through the battery compartment fixing ring. The control cabin fixing rings are arranged between the front supporting plate and the rear supporting plate, so that the control cabin can be fixed conveniently and the stability of the structure can be ensured.
Preferably, the horizontal thruster comprises a left front thruster, a right front thruster, a left rear thruster and a right rear thruster, the left front thruster, the right front thruster, the left rear thruster and the right rear thruster are respectively fixed on a left front supporting plate, a right front supporting plate, a left rear supporting plate and a right rear supporting plate, the installation angles of the left front thruster and the right front thruster are deflected by a certain angle from the front middle, and the installation angles of the left rear thruster and the right rear thruster are deflected by a certain angle from the rear middle. The left front propeller, the right front propeller, the left rear propeller and the right rear propeller are at certain same acute angles with a vertical central line, and the robot can move forwards, backwards, leftwards and rightwards in a horizontal plane by different combinations of the left front propeller, the right front propeller, the left rear propeller and the right rear propeller, and can rotate forwards or reversely around the axis in the up-down direction.
Preferably, the vertical thruster comprises a front left thruster, a front right thruster, a rear left thruster and a rear right thruster, the front left thruster and the front right thruster are fixed on the left side protection plate, and the rear left thruster and the rear right thruster are fixed on the right side protection plate. Through mutually supporting of preceding left propeller, preceding right propeller, back left propeller, back right propeller in this application for underwater robot can upwards or downstream, can also follow the axis upset motion of fore-and-aft direction or left right direction.
Preferably, the buoyancy module is fixed on the front supporting plate or the rear supporting plate, and a flow guide sleeve for protecting the buoyancy module is arranged outside the buoyancy module. When the robot moves underwater, the robot is easily influenced by underwater branches or aquatic weeds, and in order to avoid damage of the buoyancy module, a flow guide sleeve is arranged on the frame and used for protecting the buoyancy module. The air guide sleeve can be detachably arranged on the frame through bolts.
Preferably, a connecting cover is arranged between the front and rear air guide covers on the same side. The connecting cover can be lapped between the front and rear air guide covers in a buckling and inserting mode or a bolt fixing mode, so that the front and rear air guide covers are stable and excessive, and the resistance in operation is reduced.
Preferably, a weight for balancing gravity is provided on the bottom plate. The balancing weight is fixed on the bottom plate through a screw. A plurality of screw holes are arranged at four angles of the bottom plate, namely the front angle, the rear angle, the left angle and the right angle, so that the counter weights can be installed at different positions, and the underwater robot is in a horizontal state in a free state.
Preferably, the underwater pressure-resistant lamp comprises a left underwater pressure-resistant lamp and a right underwater pressure-resistant lamp, and the left underwater pressure-resistant lamp and the right underwater pressure-resistant lamp are arranged on the adjusting groove of the side plate through lamp brackets. The function of adjusting the illumination angle is played.
Compared with the prior art, the beneficial effects of the utility model are that: the power system is arranged in multiple directions, so that the movement mode and the movement direction of the underwater robot can be increased, and the underwater flexibility of the underwater robot is greatly improved.
Drawings
Fig. 1 is a perspective view of the front view structure of the underwater robot of the present invention.
Fig. 2 is a front view of the underwater robot structure of the present invention.
Fig. 3 is a top view of the underwater robot structure of the present invention.
Fig. 4 is the oblique view of the frame structure of the underwater robot of the present invention.
Fig. 5 is a front view of the frame structure of the underwater robot of the present invention.
Fig. 6 is the perspective view of the rear view structure of the underwater robot.
Wherein, the fixed control cabin-1, the battery cabin-2, the lamp bracket-3, the left underwater pressure lamp-4, the connecting cover-5, the buoyancy module-7, the frame-10, the right underwater pressure lamp-12, the side protection plate-13, the front support plate-14, the side plate-15, the bottom plate-18, the rear support plate-19, the control cabin fixing ring-20, the battery cabin fixing ring-22, the balancing weight-27, the screw-29, the underwater cabin body-32, the underwater pressure lamp-33, the power system-34, the flow guide cover-35, the horizontal propeller-30, the vertical propeller-31, the left front propeller-301, the right front propeller-302, the left rear propeller-303, the right rear propeller-304, the front left propeller-311, the front right propeller-312, the left pressure lamp-4, the connecting cover-, A rear left propeller-313 and a rear right propeller-314.
Detailed Description
The invention will be described in further detail with reference to the following drawings and detailed description:
the utility model discloses the main underwater motion mode who realizes mainly has following some: planar motion, vertical motion, flip motion, and fixed angle motion, and combinations of these motions.
As shown in fig. 1 and 2, the underwater robot with six degrees of freedom comprises a frame 10, buoyancy modules 7, an underwater cabin 32, underwater pressure-resistant lamps 33 and a power system 34, wherein the underwater cabin 32 is installed in the middle of the frame 10, the buoyancy modules 7 are installed on two sides of the frame 10 and located at the upper part of the frame 10, and the underwater pressure-resistant lamps 33 are installed at the lower part of the frame 10; the power system 34 comprises a horizontal propeller 30 horizontally mounted on the frame 10 and a vertical propeller 31 vertically mounted on the frame 10, wherein the vertical propeller 31 is vertically mounted on both sides of the frame 10, and the horizontal propeller 30 is horizontally mounted on the inner side of the frame 10. The frame 10 is designed to be bilaterally symmetrical. The left side and the right side of the frame 10 are symmetrically provided with the buoyancy modules 7, so that the robot can be in a horizontal balance state when underwater, and the buoyancy modules 7 are made of buoyancy materials and can support the whole robot to hover underwater. The underwater cabin 32 is used for accommodating the fixed control cabin 1 and the battery cabin 2. The underwater pressure lamp is arranged at the front end of the frame 10, is powered by a battery in the battery cabin 2 and is used for illumination during underwater operation. The power system 34 adopts a ducted fan, the shell of which is fixed on the frame 10 and is powered by the battery in the battery compartment 2. The frame 10 is made of metal material or engineering plastic.
In this embodiment, as shown in fig. 4, the frame 10 includes a bottom plate 18, side plates 15, side protection plates 13, and a front support plate 14, wherein the side plates 15 are vertically fixed on the left and right sides of the bottom plate 18, the side protection plates 13 are fixed on the outer sides of the left and right bottom plates 18, and the front support plate 14 is fixed on the inner sides of the left and right bottom plates 18. The frame 10 is made by splicing module plates, so that the difficulty of the production process can be greatly reduced. When the frame 10 is made of metal material, it can be fixed by welding. When the frame 10 is made of plastic material, it can be fixed by ultrasonic welding or strong glue. Holes for fixing the buoyancy modules 7 are formed in the side plates 15 and the front supporting plate 14, and the buoyancy modules 7 can be bound on the frame 10 through a binding belt or fixed through hoops. The side guard 13 is provided with a large hole in the vertical direction for vertically pushing the propeller 31 in the vertical direction.
In this embodiment, as shown in fig. 4, the frame 10 further includes a rear support plate 19, the rear support plate 19 is fixed inside the left and right bottom plates 18, and the rear support plate 19 is located at the rear end of the front support plate 14. A front supporting plate 14 and a rear supporting plate 19 are respectively arranged on the left side and the right side of the frame 10, wherein the front supporting plate 14 is positioned at the front end of the rear supporting plate 19, and a buoyancy module 7 is respectively arranged on the front supporting plate 14 and the rear supporting plate 19 on the left side and the right side. The volume and mass of the buoyancy modules 7 on the left front supporting plate 14 and the right front supporting plate 14 are the same, and the volume and mass of the buoyancy modules 7 on the left rear supporting plate 19 and the right rear supporting plate 19 are the same, so that the left buoyancy value and the right buoyancy value of the rack 10 are the same. The volume and mass of the buoyancy modules 7 on the front supporting plate 14 and the rear supporting plate 19 can be different, and the buoyancy modules are arranged according to the whole weight of the robot, so that the robot can be in a horizontal state underwater. In addition, the whole buoyancy module 7 is positioned above the frame 10, so that the robot can be ensured to be in a stable state, and the overturning is avoided.
In this embodiment, as shown in fig. 4, the frame 10 further includes a battery compartment fixing ring 22 and a control compartment fixing ring 20, the arc-shaped control compartment fixing ring 20 is fixed on the front support plate 14 or the rear support plate 19, and the battery compartment fixing ring 22 is fixed on the bottom plate 18. The battery compartment retainer ring 22 may be secured to the floor 18 by welding or bolting. The control cabin fixing ring 20 can be fixed on the front supporting plate 14 or the rear supporting plate 19 by welding or bolt fastening. The battery compartment fixing ring 22 is mainly used for fixing the battery compartment 2 on the bottom plate 18; between the front and rear support plates 14, 19 are control pod securing rings 20, which serve to secure the control pod 1 and to ensure structural stability.
In this embodiment, as shown in fig. 5, the horizontal thruster 30 includes a left front thruster 301, a right front thruster 302, a left rear thruster 303, and a right rear thruster 304, the left front thruster 301, the right front thruster 302, the left rear thruster 303, and the right rear thruster 304 are respectively fixed on the left front support plate 14, the right front support plate 14, the left rear support plate 19, and the right rear support plate 19, and the installation angles of the left front thruster 301 and the right front thruster 302 are deflected by a certain angle from the front middle, and the installation angles of the left rear thruster 303 and the right rear thruster 304 are deflected by a certain angle from the rear middle. In the present application, four thrusters are provided in the horizontal thruster 30, which are a left front thruster 301, a right front thruster 302, a left rear thruster 303, and a right rear thruster 304, wherein the directions of the left front thruster 301 and the right front thruster 302 are forward and deflected to the middle by a certain angle, and the directions of the left front thruster 301 and the right front thruster 302 are symmetrical with respect to the center. The left rear thruster 303 and the right rear thruster 304 are oriented at an angle, preferably 45 °, backwards and towards the middle, the orientation of the left rear thruster 303 and the right rear thruster 304 being symmetrical with respect to the centre line. When the robot is propelled forwards, the left front thruster 301 and the right front thruster 302 are started, and the thrusts of the left front thruster 301 and the right front thruster 302 are the same, so that the robot moves forwards under the action of the reverse thrust. When the robot propels backwards, the left rear propeller 303 and the right rear propeller 304 are started, and the thrusts of the left rear propeller 303 and the right rear propeller 304 are the same, so that the robot moves backwards under the action of reverse thrust. The robot of the present application is also capable of horizontal rotation. When the front left thruster 301 and the rear right thruster 304 are activated, the robot can rotate in a clockwise direction. When the right front propeller 302 and the left rear propeller 303 are activated, the robot can rotate in a counter-clockwise direction. When the front left thruster 301 and the rear left thruster 303 are activated, the robot translates to the left. When the right front thruster 302 and the right rear thruster 304 are activated, the robot translates to the right.
In this embodiment, as shown in fig. 5, the vertical pusher 31 includes a front left pusher 311, a front right pusher 312, a rear left pusher 313, and a rear right pusher 314, the front left pusher 311 and the front right pusher 312 are fixed on the left side protection plate 13, and the rear left pusher 313 and the rear right pusher 314 are fixed on the right side protection plate 13. The vertical thrusters 31 in the present application are also provided with four, namely a front left thruster 311, a front right thruster 312, a rear left thruster 313 and a rear right thruster 314. When front left propeller 311, front right propeller 312, rear left propeller 313 and rear right propeller 314 are started in the forward direction at the same time, the robot moves vertically upward; when front left thruster 311, front right thruster 312, rear left thruster 313, rear right thruster 314 are simultaneously directionally activated, the robot moves vertically downward. When front left propeller 311 and rear left propeller 313 generate downward thrust and front right propeller 312 and rear right propeller 314 generate upward thrust, the robot is turned forward along the front-rear direction center line; conversely, a reverse flip is generated. When front left propeller 311 and front right propeller 312 generate downward thrust and rear left propeller 313 and rear right propeller 314 generate upward thrust, the robot makes forward turn along the left-right direction center line, and conversely, makes reverse turn.
In this embodiment, as shown in fig. 5, the buoyancy module 7 is fixed to the front support plate 14 or the rear support plate 19, and a flow guide cover 35 for protecting the buoyancy module 7 is provided outside the buoyancy module 7. The buoyancy module 7 may be a hollow-inside container or foam. When the robot moves underwater, the robot is easily influenced by branches or aquatic weeds underwater, and in order to avoid the buoyancy module 7 from being damaged, the air guide sleeve 35 is installed on the frame 10 and used for protecting the buoyancy module 7. The pod 35 may be removably mounted to the frame 10 by bolts.
In this embodiment, as shown in fig. 5, a connecting cover 5 is installed between the front and rear fairings 35 on the same side. The connecting cover 5 can be lapped between the front and rear air guide covers 35 in a buckling and inserting mode or a bolt fixing mode, so that the front and rear air guide covers 35 are stable and excessive, and the resistance in operation is reduced.
In this embodiment, as shown in fig. 3, a weight 27 for balancing gravity is provided on the bottom plate 18. The weight 27 is fixed to the base plate 18 by screws 29. A plurality of screw holes are arranged on the four angles of the bottom plate 18, so that the counter weight block 2 can be arranged at different positions, and the underwater robot is in a horizontal state in a free state.
In this embodiment, as shown in fig. 1 and 3, the underwater pressure-resistant lamp 33 includes a left underwater pressure-resistant lamp 4 and a right underwater pressure-resistant lamp 12, and the left underwater pressure-resistant lamp 4 and the right underwater pressure-resistant lamp 12 are mounted on the adjusting groove of the side plate 15 through a lamp holder 3. The function of adjusting the illumination angle is played.
The underwater robot of the application has the following functions:
the first type: plane motion is the most basic motion of an underwater robot, and the required motion is realized by adopting the prior art.
The second type: when the vertical propeller 31 moves vertically and pushes water flow to the z axis forward, the thrust in the z axis direction can be generated, so that the underwater robot moves in the z axis direction. Conversely, the propellers push water flow to the z axis in the opposite direction, and the underwater robot can dive.
In the third category: and when the underwater robot is overturned, the front left propeller 311 and the rear left propeller 313 discharge water flow to the z axis in a positive direction, the right side of the underwater robot is subjected to a force in the opposite direction of the z axis, and the front right propeller 312 and the rear right propeller 314 discharge water flow to the opposite direction of the z axis, so that the left side of the underwater robot is subjected to a force in the positive direction of the z axis, and the underwater robot can be overturned around the x axis in a counterclockwise way under the control of the overturning. Similarly, the rear left propeller 313 and the rear right propeller 314 discharge water flow in the opposite direction of the z-axis, so that the front side is subjected to a positive force of the z-axis, the front left propeller 311 and the front right propeller 312 discharge water flow in the positive direction of the z-axis, and the rear side is subjected to a negative force of the z-axis, so that the front side can turn clockwise along the y-axis. From the above, it can be seen that the turning motion can be formed by the operation of four vertically mounted propellers in different ways.
The fourth type: the fixed angle movement, as shown in fig. 5, can make the underwater robot move with the horizontal in a certain degree by controlling, and can keep the posture unchanged in the process of advancing and laterally moving and the like. The front left propeller 311 and the rear left propeller 313 discharge the water flow backward, generating an upward force F2While the front right propeller 312 and the rear right propeller 314 discharge water upwards to generate a downward thrust F1The two thrusts form a counterclockwise torque MfBy controlling, MfThe torque M which returns to the self state with the underwater robotgAnd the balance is realized, so that the underwater robot can be balanced at a certain angle. The utility model discloses in, can realize 0 degree to 90 fixed angle motions, this has greatly increased underwater robot's working method.
The unexplained part of the design in the utility model is the same as the prior art or is realized by adopting the prior art.
Claims (10)
1. A six-degree-of-freedom underwater robot is characterized in that: the underwater robot comprises a rack (10), buoyancy modules (7), an underwater cabin body (32), underwater pressure-resistant lamps (33) and a power system (34), wherein the underwater cabin body (32) is installed in the middle of the rack (10), the buoyancy modules (7) are installed on two sides of the rack (10) and located at the upper part of the rack (10), and the underwater pressure-resistant lamps (33) are installed on the lower part of the rack (10); the power system (34) comprises a horizontal propeller (30) horizontally arranged on the rack (10) and a vertical propeller (31) vertically arranged on the rack (10), the vertical propeller (31) is vertically arranged on two sides of the rack (10), and the horizontal propeller (30) is horizontally arranged on the inner side of the rack (10).
2. The six degree-of-freedom underwater robot of claim 1, wherein: the rack (10) comprises a bottom plate (18), side plates (15), side protection plates (13) and front supporting plates (14), wherein the side plates (15) are vertically fixed on the left side and the right side of the bottom plate (18), the side protection plates (13) are fixed on the outer sides of the bottom plate (18) on the left side and the right side, and the front supporting plates (14) are fixed on the inner sides of the bottom plate (18) on the left side and the right side.
3. The six degree-of-freedom underwater robot of claim 2, wherein: the frame (10) also comprises a rear supporting plate (19), the rear supporting plate (19) is fixed on the inner sides of the left and right bottom plates (18), and the rear supporting plate (19) is positioned at the rear end of the front supporting plate (14).
4. The six degree-of-freedom underwater robot of claim 3, wherein: the rack (10) further comprises a battery compartment fixing ring (22) and a control compartment fixing ring (20), the arc-shaped control compartment fixing ring (20) is fixed on the front supporting plate (14) or the rear supporting plate (19), and the battery compartment fixing ring (22) is fixed on the bottom plate (18).
5. The six degree-of-freedom underwater robot of claim 3 or 4, characterized in that: horizontal propeller (30) including left front propeller (301), right front propeller (302), left back propeller (303), right back propeller (304), left front propeller (301), right front propeller (302), left back propeller (303), right back propeller (304) are fixed respectively in left side preceding fagging (14), preceding fagging (14) in right side, fagging (19) behind left side, fagging (19) behind the right side, and left front propeller (301), right front propeller (302) installation angle is by preceding to the certain angle of deflection in the middle, left side back propeller (303), right back propeller (304) installation angle is by the certain angle of deflection in the middle of backward.
6. The six degree-of-freedom underwater robot of claim 3 or 4, characterized in that: the vertical thruster (31) comprises a front left thruster (311), a front right thruster (312), a rear left thruster (313) and a rear right thruster (314), the front left thruster (311) and the front right thruster (312) are fixed on the left side protection plate (13), and the rear left thruster (313) and the rear right thruster (314) are fixed on the right side protection plate (13).
7. The six degree-of-freedom underwater robot of claim 3, wherein: the buoyancy module (7) is fixed on the front supporting plate (14) or the rear supporting plate (19), and a flow guide cover (35) used for protecting the buoyancy module (7) is arranged outside the buoyancy module (7).
8. The six degree-of-freedom underwater robot of claim 7, wherein: a connecting cover (5) is arranged between the front and the rear air guide covers (35) at the same side.
9. The six degree-of-freedom underwater robot of claim 1 or 3 or 7 or 8, wherein: a counterweight (27) for balancing gravity is provided on the bottom plate (18).
10. The six degree-of-freedom underwater robot of claim 1 or 3 or 7 or 8, wherein: the underwater pressure lamp (33) comprises a left underwater pressure lamp (4) and a right underwater pressure lamp (12), and the left underwater pressure lamp (4) and the right underwater pressure lamp (12) are arranged on the adjusting groove of the side plate (15) through the lamp holder (3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920693578.8U CN210063333U (en) | 2019-05-15 | 2019-05-15 | Six-degree-of-freedom underwater robot |
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| CN201920693578.8U CN210063333U (en) | 2019-05-15 | 2019-05-15 | Six-degree-of-freedom underwater robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111874192A (en) * | 2020-08-05 | 2020-11-03 | 青岛理工大学 | Internet of things underwater operation system |
| CN112519977A (en) * | 2020-11-27 | 2021-03-19 | 江苏科技大学 | Ship body cleaning robot and cleaning method thereof |
| CN112550645A (en) * | 2020-11-24 | 2021-03-26 | 江苏赛愽智能制造研究院有限公司 | Six-degree-of-freedom underwater detection robot and working method thereof |
-
2019
- 2019-05-15 CN CN201920693578.8U patent/CN210063333U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111874192A (en) * | 2020-08-05 | 2020-11-03 | 青岛理工大学 | Internet of things underwater operation system |
| CN112550645A (en) * | 2020-11-24 | 2021-03-26 | 江苏赛愽智能制造研究院有限公司 | Six-degree-of-freedom underwater detection robot and working method thereof |
| CN112519977A (en) * | 2020-11-27 | 2021-03-19 | 江苏科技大学 | Ship body cleaning robot and cleaning method thereof |
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