CN210083511U - Mini underwater robot capable of monitoring water quality - Google Patents
Mini underwater robot capable of monitoring water quality Download PDFInfo
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- CN210083511U CN210083511U CN201920792948.3U CN201920792948U CN210083511U CN 210083511 U CN210083511 U CN 210083511U CN 201920792948 U CN201920792948 U CN 201920792948U CN 210083511 U CN210083511 U CN 210083511U
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 25
- 238000007789 sealing Methods 0.000 claims abstract description 63
- 238000005070 sampling Methods 0.000 claims abstract description 11
- 238000004519 manufacturing process Methods 0.000 claims abstract description 9
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Abstract
The utility model discloses a can supply novel mini underwater machine of water quality monitoring. The technical scheme adopted comprises the following steps: the sealed cabin mainly comprises a cabin pipe, a sealed flange, a large flange sealing ring, a hemisphere, a flange end cover fixing ring, a small flange sealing ring, a cabin cover, a hollow screw, a nut, a solid screw and a screw sealing ring; the water production cabin mainly comprises an electromagnet fixing plate, an electromagnet, a cabin body, a sealing ring, a movable plate and a buoyancy plate; the power frame mainly comprises a side supporting plate, a middle plate, a first sealed cabin fixing part, a second sealed cabin fixing part, a balancing weight and an underwater propeller. The beneficial effects are that: 1. can be in the nimble motion of aquatic, can realize the motion of 6 degrees of freedom in space under water, translation motion promptly: propulsion, heaving and traversing, and rotary motion: bow turning, trim and list; 2. the water sampling can be carried out, and the water sampling at the specified position and the specified depth can be collected through the water sampling cabin.
Description
Technical Field
The utility model belongs to the mechanical engineering field, concretely relates to underwater robot.
Background
At present, 9.8 thousands of reservoirs exist in China, and due to the influences of geological disasters such as normal flowing of water blocked by a dam, natural aging of buildings, earthquakes and the like, hydraulic engineering faces more and more safety problems, such as defects of dam leakage, concrete cracks, concrete erosion and the like, and normal operation and benefit exertion of the engineering are influenced. However, a large dam reservoir cannot be emptied for maintenance, and only underwater detection is performed, which is difficult nowadays.
With the development of underwater robots, the underwater detection carried by the underwater robots with observation and measurement instruments provides a new idea for the detection of dam reservoirs, and the underwater robots have many advantages in water conservancy projects, so that the underwater robots can be used for various underwater detections.
(1) And (5) detecting dam reservoir leakage underwater.
(2) Underwater concrete damage detection for hydraulic structure
(3) Detecting hidden dangers of metal objects (gates, supporting pieces and the like) of hydraulic buildings.
(4) And detecting underwater deposition and the like.
(5) Underwater emergency detection, emergency engineering and the like.
The major workers currently in use for underwater observation and development have manned submersibles and Unmanned Submersibles (UUVs). Unmanned vehicles, also known as underwater robots, are classified into unmanned Remotely Operated Vehicles (ROV) and Autonomous Underwater Vehicles (AUV). The ROV is connected with the surface ship through a cable and is used for transmitting power and also can transmit bidirectional control signals and data in real time. And the AUV is not connected with the mother ship through a cable, and the AUV mainly depends on the intelligent autonomous navigation of a power source carried by the AUV and a machine.
In the 70 s, the requirements of offshore oil exploitation, military affairs and the like, underwater robot technology is rapidly developed and gradually forms a new industry: the ROV industry. In 1975, the first underwater robot RCV-125 came out. Since the underwater robot starts to enter the sight of people due to its shape much like a ball, also called an eyeball, products related to the underwater robot continue to appear, typically, a japanese sea ditch number (KAIKO) underwater robot, a french victoriy-6000 underwater robot, and the like. The Japanese ditch number was submerged at 10911.4 meters under water at that time.
At present, there are hundreds of underwater robots, and manufacturers all over the world can provide various models of underwater robots and parts thereof. The maximum submergence depth of the underwater robot reaches 11000 meters, and the working range of the underwater robot almost reaches the position of all oceans.
In recent years, various models of underwater robots have been sold abroad to China as mature commercial products. Such as OUTLAND-1000 underwater robot, OUTLAND technologies, usa, which is equipped with various sensors, such as sonar system, depth gauge, etc. A SeAMOR-300 underwater robot in Canada is provided with a sonar system, an altimeter, a depth meter, a computer vision system and the like, 4 propellers symmetrically arranged in pairs form an angle of 45 degrees with the horizontal plane, and the maximum diving depth is 300 meters. The submergence depth of FALCON and FALCONDR series products in the United kingdom can reach 300 meters to 10000 meters, and the FALCON can submerge 300 meters underwater by taking the FALCON as an example, the load is 8.5kg, the longest cable is 450 meters, and the length of the cable can be upgraded to 1100 meters. The intelligent control system is provided, and a sensor system with complete functions, a multifunctional manipulator system and the like are installed. The H300-MKII underwater robot of the France ECAHYTEC company is a shallow ROV, the working range of the robot is 300m under water, the load is 8kg, various sensors such as a micronDST scanning sonar, a depth gauge, a compass and a computer vision system can be installed, a manipulator and four brushless direct current propellers are installed, and the maximum thrust reaches 17.3 kg. The Shenyang automatic research institute of Chinese academy of sciences is combined with units such as the oceanic institute of Chinese academy of sciences to develop a 'starfish 6000' underwater robot. The first scientific research task is completed in 2018, 10 and 26 months, and environmental samples and data information are obtained in the sea area. The maximum diving depth of the starfish 6000 underwater robot is more than 6000 meters, and then the maximum diving depth record of the unmanned remote control submersible in China is created.
The 'exploration' series autonomous underwater robots independently developed in China can be used for exploration from 100 meters underwater to 4500 meters underwater. Wherein, the exploration 100 is mainly used for shallow sea exploration, the exploration 1000 is mainly used for long-term continuous fixed-point observation of specific sea area oceans, and the exploration 4500 is mainly used for exploration of complex geological environment and ecosystem in deep sea areas.
SUMMERY OF THE UTILITY MODEL
The utility model aims at the deficiency of the prior art, a novel mini underwater machine for water quality monitoring is provided.
The utility model discloses a technical scheme include:
the sealed cabin mainly comprises a cabin pipe, a sealed flange, a large flange sealing ring, a hemisphere, a flange end cover fixing ring, a small flange sealing ring, a cabin cover, a hollow screw, a nut, a solid screw and a screw sealing ring; the sealing flange is respectively fixed at two ends of the cabin pipe through large flange sealing rings, the hemisphere is fixed on the sealing flange through the flange end cover fixing ring, the flange end cover fixing ring is fixed with the sealing flange through a bolt, the small flange sealing ring is arranged in the groove of the sealing flange to play a sealing role, the cabin cover is fixed on the sealing flange through a bolt, the hollow screw is matched with a nut and is fixed on the cabin cover through the screw sealing ring in a sealing way, and the solid screw is matched with the nut and is fixed on the cabin cover through the screw sealing ring in a sealing way;
the water production cabin mainly comprises an electromagnet fixing plate, an electromagnet, a cabin body, a sealing ring, a movable plate and a buoyancy plate; the electromagnet fixing plate is fixed with the electromagnet, the electromagnet fixing plate is fixed with the cabin body, the sealing ring is arranged in the cabin body and is matched with the movable plate to play a sealing role, and the buoyancy plate is arranged in the cabin body and is positioned below the movable plate;
the power frame mainly comprises a side supporting plate, a middle plate, a first sealed cabin fixing part, a second sealed cabin fixing part, a balancing weight and an underwater propeller; the side supporting plates are fixed on two sides of the middle plate, the first sealed cabin fixing piece is fixed on the middle plate, the second sealed cabin fixing piece is fixed on the first sealed cabin fixing piece, the balancing weight is fixed on the side supporting plates, and the underwater propeller is respectively fixed on the side supporting plates and the middle plate;
the sealed cabin is fixed at the bottom of the middle plate through a first sealed cabin fixing piece and a second sealed cabin fixing piece of the power frame; the water production cabin is fixed on the top of the power frame.
The mini underwater robot capable of monitoring water quality is characterized in that: before water is collected, the movable plate is controlled to open and close through the on-off of the electromagnet, after water is collected, the movable plate rises through buoyancy generated by water on the buoyancy plate, the water collecting cabin is closed through controlling the on-off of the electromagnet, and water samples are led out through the water outlet holes in the bottom of the cabin body.
The mini underwater robot capable of monitoring water quality is characterized in that: the gravity center of the whole body is adjusted through the position adjustment of the balancing weight, and the six-degree-of-freedom motion of the device under water is completed through the spatial arrangement and the mutual matching operation of the underwater propellers.
The mini underwater robot capable of monitoring water quality is characterized in that: two sides of the middle part of the middle plate are provided with two vertically-installed underwater propellers, two sides of the tail part of the middle plate are provided with two horizontally-installed underwater propellers, and the middle of the tail part of the middle plate is provided with one vertically-installed underwater propeller.
The mini underwater robot capable of monitoring water quality is characterized in that: the lateral supporting plate is provided with at least one first adjusting groove which is horizontally distributed, and the balancing weight is arranged on the first adjusting groove and can be adjusted forwards and backwards.
The mini underwater robot capable of monitoring water quality is characterized in that: the middle plate is provided with at least one second adjusting groove which is horizontally distributed, and the balancing weight is arranged on the second adjusting groove and can be adjusted front and back.
The mini underwater robot capable of monitoring water quality is characterized in that: the cabin body bottom is equipped with the inclined plane, the apopore is established the lowest on inclined plane.
The mini underwater robot capable of monitoring water quality is characterized in that: the side supporting plates are fixed on two sides of the middle plate through corner connectors.
The mini underwater robot capable of monitoring water quality is characterized in that: the underwater propeller is a T200 underwater propeller.
A water sample collection method of an underwater robot is realized by the mini underwater robot capable of monitoring water quality, and is characterized by comprising the following steps:
(1) before launching, a rubber tube is connected to the water outlet hole of the cabin body, and the other end of the rubber tube is clamped by a clamp to be sealed;
(2) when the cabin body is launched into water, the electromagnet is electrified to adsorb the movable plate on the surface of the cabin body, the interior of the cabin body is in a closed state, and the interior is isolated from the external environment;
(3) when water needs to be collected in a designated area, the electromagnet is powered off, the movable plate and the buoyancy plate fall due to gravity, the water collection cabin is in an open state, the electromagnet is powered on again to generate a magnetic field to wait for next work, water flows in from a gap between the electromagnet and the cabin body, the buoyancy plate generates buoyancy to push the movable plate to move upwards together when the water amount is gradually increased, the movable plate is attracted to the surface of the movable plate by the magnetic force of the electromagnet again when the water level in the cabin body reaches a certain height, the water collection cabin is in a closed state again at the moment, the interior of the cabin body is isolated from the external environment, a water sample is stored in the cabin body, and the water collection process is finished;
(4) when the water sampling cabin rises to the water surface, after the water sampling cabin is salvaged and recovered, the electromagnet is powered off, the internal environment is reconnected with the outside, the internal air pressure is the same as the external atmospheric pressure, the clamp of the rubber tube is taken down at the moment, and the internal water sample flows into a specific container through the rubber tube due to the gravity action because the bottom end of the cabin is an inclined plane, so that the water sample collection is completed.
The beneficial effects of the utility model reside in that:
1. the utility model discloses can be in the nimble motion of aquatic, can realize the motion of 6 degrees of freedom in space under water, translation motion promptly: propulsion, heaving and traversing, and rotary motion: bow turning, trim and list;
2. the adjustment of the gravity center floating center can be realized, and different devices can be conveniently carried;
3. camera equipment can be placed in the sealed cabin and used for observing underwater conditions in real time and assisting other detection devices to operate;
4. the water sampling cabin can collect water samples at specified positions and specified depths;
5. the volume is small, the weight is light, the smaller volume can move more sensitively under water, and the control is convenient.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a sectional view of the middle sealed cabin of the utility model;
FIG. 3 is a sectional view of the middle water producing chamber of the present invention;
fig. 4 is a schematic structural diagram of the middle power frame of the present invention.
In the figure: 1. sealing the cabin; 2. a water production chamber; 3. a power frame; 1-1, cabin pipes; 1-2, sealing a flange; 1-3, a flange large sealing ring; 1-4, hemisphere; 1-5, fixing a flange end cover ring; 1-6, a small flange sealing ring; 1-7, a hatch cover; 1-8, hollow screws; 1-9, nut; 1-10 parts of solid screw; 1-11, a screw sealing ring; 2-1, 2-1 electromagnet fixing plate; 2-2, an electromagnet; 2-3, a cabin body; 2-4, sealing rings; 2-5, a movable plate; 2-6, a buoyancy plate; 3-1, side support plates; 3-2, a middle plate; 3-3, a first sealed cabin fixing piece; 3-4, second sealed cabin fixing parts; 3-5, a balancing weight; 3-6, an underwater propeller; 3-7, corner connectors.
Detailed Description
Example 1:
as shown in figure 1, the mini (mini) underwater robot for water quality monitoring of the utility model comprises a sealed cabin 1, a water collecting cabin 2 and a power frame 3. The mini underwater robot capable of monitoring the water quality is connected with the surface ship through a cable and used for transmitting power, and bidirectional control signals and data can be transmitted in real time.
As shown in figure 2, the sealed cabin 1 mainly comprises a cabin pipe 1-1, a sealed flange 1-2, a flange large sealing ring 1-3, a hemisphere 1-4, a flange end cover fixing ring 1-5, a flange small sealing ring 1-6, a cabin cover 1-7, a hollow screw 1-8, a nut 1-9, a solid screw 1-10 and a screw sealing ring 1-11. The sealing flanges 1-2 are respectively fixed at two ends of the cabin pipe 1-1 through large flange sealing rings 1-3, the hemispheres 1-4 are fixed on the sealing flange 1-2 through a flange end cover fixing ring 1-5, the flange end cover fixing ring 1-5 is fixed with the sealing flange 1-2 through bolts and nuts, the small flange seal ring 1-6 is arranged in the groove of the sealing flange 1-2 to play a sealing role, the hatch cover 1-7 is fixed on the sealing flange 1-2 through bolts and nuts, the hollow screws 1-8 are matched with the nuts 1-9 and are fixed on the two sides of the hatch cover through screw sealing rings 1-11 in a sealing way, the solid screws 1-10 are matched with the nuts 1-9 and are hermetically fixed on two sides of the hatch cover through screw sealing rings 1-11. The sealed cabin 1 can be used for installing electronic elements such as a camera and the like, a sealed space is provided by mutual matching of a cabin pipe 1-1, a sealed flange 1-2, a flange large sealing ring 1-3, a hemisphere 1-4, a flange end cover fixing ring 1-5, a flange small sealing ring 1-6 and a cabin cover 1-7, and a control device in the sealed cabin is connected with an external device through a communication channel formed by matching of a hollow screw 1-8, a nut 1-9, a solid screw 1-10 and a screw sealing ring 1-11.
As shown in figure 3, the water production cabin 2 mainly comprises an electromagnet fixing plate 2-1, an electromagnet 2-2, a cabin body 2-3, a sealing ring 2-4, a movable plate 2-5 and a buoyancy plate 2-6. The electromagnet fixing plate 2-1 is fixed with the electromagnet 2-2 through bolts, the cabin body 2-3 is fixed with the electromagnet fixing plate 2-1 and fixed on the power frame 4, the sealing ring 2-4 is arranged in the cabin body 2-3 and matched with the movable plate 2-5 to play a sealing role, and the buoyancy plate 2-6 is arranged in the cabin body 2-3 and below the movable plate 2-5.
As shown in figure 4, the power frame 2 mainly comprises a side supporting plate 3-1, a middle plate 3-2, a first sealed cabin fixing part 3-3, a second sealed cabin fixing part 3-4, a balancing weight 3-5, an underwater propeller 3-6 and a corner connector 3-7. The side supporting plate 3-1 is fixed on two sides of the middle plate 3-2 through corner connectors 3-7, the first sealed cabin fixing part 3-3 is fixed on the middle plate 3-2, the second sealed cabin fixing part 3-4 is fixed on the first sealed cabin fixing part 3-3, the balancing weight 3-5 is fixed on the side supporting plate 3-1, and the underwater propeller 3-6 is fixed on the side supporting plate 3-1 and the middle plate 3-2 respectively. The underwater propellers 3-6 adopt T200 underwater propellers. T200 (motor type) is a light, low-priced and reliable underwater brushless motor propeller, have small, light in weight, advantage that the thrust is big.
The cabin pipe 1-1 of the sealed cabin 1 is clamped with the first sealed cabin fixing piece 3-3 and the second sealed cabin fixing piece 3-4 of the power frame 3 and is fixed at the bottom of the middle plate 3-2. A group of screws are arranged on the periphery of the cabin body 2-3 of the water production cabin 2 and are screwed with the middle plate 3-2 of the middle plate 3-2, and the water production cabin is fixed on the top of the middle plate 3-2.
Further, before water collection, the movable plate 2-5 is controlled to open and close through the on-off of the electromagnet 2-2, after water collection, the movable plate 2-5 is lifted through buoyancy generated by water on the buoyancy plate 2-6, the water collection cabin is closed through controlling the on-off of the electromagnet 2-2, and water samples are led out through the water outlet holes 2-7 in the bottom of the cabin body 2-3.
Furthermore, two ends of the side supporting plate 3-1 are respectively provided with a first adjusting groove 3-8 which is horizontally distributed, and the balancing weight 3-5 is arranged on the first adjusting grooves 3-8 and can be adjusted back and forth. A second adjusting groove 3-9 which is horizontally distributed is arranged in the middle of the middle plate 3-2, and the balancing weight 3-5 is arranged on the second adjusting groove 3-9, and the position of the balancing weight can be adjusted back and forth. The position of the balancing weight 3-5 is adjusted to adjust the integral gravity center.
Furthermore, two sides of the middle part of the middle plate 3-2 are provided with two vertically-installed underwater propellers 3-6, two sides of the tail part of the middle plate 3-2 are provided with two horizontally-installed underwater propellers 3-6, and the middle of the tail part of the middle plate 3-2 is provided with one vertically-installed underwater propeller 3-6. And finishing the six-degree-of-freedom motion of the device under water through the spatial arrangement and the mutual matching operation of the underwater propellers 3-6.
Furthermore, the bottom of the cabin body 2-3 is provided with an inclined plane 2-9, and the water outlet 2-7 is arranged at the lowest position of the inclined plane 2-9, so that a water sample in the cabin body 2-3 can be taken out conveniently.
Example 2:
the utility model discloses a water sample collection method of underwater robot. The mini (mini) underwater robot for water quality monitoring according to embodiment 1 is realized by the following steps:
(1) before launching, a rubber tube is connected to the water outlet hole of the cabin body, and the other end of the rubber tube is clamped by a clamp to be sealed;
(2) when the cabin body is launched into water, the electromagnet is electrified to adsorb the movable plate on the surface of the cabin body, the interior of the cabin body is in a closed state, and the interior is isolated from the external environment;
(3) when water needs to be collected in a designated area, the electromagnet is powered off, the movable plate and the buoyancy plate fall due to gravity, the water collection cabin is in an open state, the electromagnet is powered on again to generate a magnetic field to wait for next work, water flows in from a gap between the electromagnet and the cabin body, the buoyancy plate generates buoyancy to push the movable plate to move upwards together when the water amount is gradually increased, the movable plate is attracted to the surface of the movable plate by the magnetic force of the electromagnet again when the water level in the cabin body reaches a certain height, the water collection cabin is in a closed state again at the moment, the interior of the cabin body is isolated from the external environment, a water sample is stored in the cabin body, and the water collection process is finished;
(4) when the water sampling cabin rises to the water surface, after the water sampling cabin is salvaged and recovered, the electromagnet is powered off, the internal environment is reconnected with the outside, the internal air pressure is the same as the external atmospheric pressure, the clamp of the rubber tube is taken down at the moment, and the internal water sample flows into a specific container through the rubber tube due to the gravity action because the bottom end of the cabin is an inclined plane, so that the water sample collection is completed.
Finally, it should be noted that the above description is intended to illustrate and not to limit the invention, and that those skilled in the art will understand that many modifications, variations or equivalent arrangements may be made without departing from the spirit and scope of the invention as defined in the claims.
Claims (9)
1. A mini underwater robot for monitoring water quality is characterized by comprising:
the sealed cabin (1) mainly comprises a cabin pipe (1-1), a sealed flange (1-2), a large flange sealing ring (1-3), a hemisphere (1-4), a flange end cover fixing ring (1-5), a small flange sealing ring (1-6), a cabin cover (1-7), a hollow screw (1-8), a nut (1-9), a solid screw (1-10) and a screw sealing ring (1-11); the sealing flange (1-2) is respectively fixed at two ends of the cabin pipe (1-1) through a large flange sealing ring (1-3), the hemisphere (1-4) is fixed on the sealing flange (1-2) through a flange end cover fixing ring (1-5), the flange end cover fixing ring (1-5) is fixed with the sealing flange (1-2) through a bolt, the small flange sealing ring (1-6) is arranged in a groove of the sealing flange (1-2) to play a sealing role, the cabin cover (1-7) is fixed on the sealing flange (1-2) through a bolt, the hollow screw (1-8) is matched with the nut (1-9) and is sealed and fixed on the cabin cover (1-7) through the screw sealing ring (1-11), the solid screw (1-10) is matched with the nut (1-9) and is hermetically fixed on the hatch cover (1-7) through the screw sealing ring (1-11);
the water production cabin (2) mainly comprises an electromagnet fixing plate (2-1), an electromagnet (2-2), a cabin body (2-3), a sealing ring (2-4), a movable plate (2-5) and a buoyancy plate (2-6); the electromagnet fixing plate (2-1) is fixed with the electromagnet (2-2), the electromagnet fixing plate (2-1) is fixed with the cabin body (2-3), the sealing ring (2-4) is arranged in the cabin body (2-3) and matched with the movable plate (2-5) to play a sealing role, and the buoyancy plate (2-6) is arranged in the cabin body and is positioned below the movable plate (2-5);
the power frame (3) mainly comprises a side supporting plate (3-1), a middle plate (3-2), a first sealed cabin fixing piece (3-3), a second sealed cabin fixing piece (3-4), a balancing weight (3-5) and an underwater propeller (3-6); the side supporting plates (3-1) are fixed on two sides of the middle plate (3-2), the first sealed cabin fixing pieces (3-3) are fixed on the middle plate (3-2), the second sealed cabin fixing pieces (3-4) are fixed on the first sealed cabin fixing pieces (3-3), the balancing weights (3-5) are fixed on the side supporting plates (3-1), and the underwater propellers (3-6) are respectively fixed on the side supporting plates (3-1) and the middle plate (3-2);
the sealed cabin (1) is fixed at the bottom of the middle plate (3-2) through a first sealed cabin fixing piece (3-3) and a second sealed cabin fixing piece (3-4) of the power frame (3); the water production cabin (2) is fixed at the top of the power frame (3).
2. The mini underwater robot for water quality monitoring according to claim 1, wherein: before water sampling, the movable plate (2-5) is controlled to open and close through the on-off of the electromagnet (2-2), after water sampling, the movable plate (2-5) is lifted through buoyancy generated by water on the buoyancy plate (2-6), the water sampling cabin is closed through controlling the on-off of the electromagnet (2-2), and water samples are led out through the water outlet holes (2-7) in the bottom of the cabin body (2-3).
3. The mini underwater robot for water quality monitoring according to claim 1, wherein: the gravity center of the whole body is adjusted through the position adjustment of the balancing weight (3-5), and the six-degree-of-freedom motion of the device under water is completed through the spatial arrangement and the mutual matching operation of the underwater propellers (3-6).
4. The mini underwater robot for water quality monitoring according to claim 3, characterized in that: two sides of the middle part of the middle plate (3-2) are provided with two vertically-installed underwater propellers (3-6), two sides of the tail part of the middle plate (3-2) are provided with two horizontally-installed underwater propellers (3-6), and the middle of the tail part of the middle plate (3-2) is provided with one vertically-installed underwater propeller (3-6).
5. The mini underwater robot for water quality monitoring according to claim 3, characterized in that: the side supporting plate (3-1) is provided with at least one first adjusting groove (3-8) which is horizontally distributed, and the balancing weight (3-5) is arranged on the first adjusting groove (3-8) and can be adjusted forwards and backwards.
6. The mini underwater robot for water quality monitoring according to claim 3, characterized in that: the middle plate (3-2) is provided with at least one second adjusting groove (3-9) which is horizontally distributed, and the balancing weight (3-5) is arranged on the second adjusting groove (3-9) and can be adjusted back and forth.
7. The mini underwater robot for water quality monitoring according to claim 2, characterized in that: the cabin body (2-3) bottom is equipped with inclined plane (2-9), establish apopore (2-7) the lowest of inclined plane (2-9).
8. The mini underwater robot for water quality monitoring according to claim 1, wherein: the side supporting plates (3-1) are fixed on two sides of the middle plate (3-2) through corner connectors (3-7).
9. The mini underwater robot for water quality monitoring according to claim 1, wherein: the underwater propellers (3-6) are T200 underwater propellers.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920792948.3U CN210083511U (en) | 2019-05-29 | 2019-05-29 | Mini underwater robot capable of monitoring water quality |
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| CN201920792948.3U CN210083511U (en) | 2019-05-29 | 2019-05-29 | Mini underwater robot capable of monitoring water quality |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110116794A (en) * | 2019-05-29 | 2019-08-13 | 浙江天煌科技实业有限公司 | For the mini underwater robot and water sampling method of water quality monitoring |
| CN111409800A (en) * | 2020-04-24 | 2020-07-14 | 杭州电子科技大学 | Intelligent control cabin of underwater robot |
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2019
- 2019-05-29 CN CN201920792948.3U patent/CN210083511U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110116794A (en) * | 2019-05-29 | 2019-08-13 | 浙江天煌科技实业有限公司 | For the mini underwater robot and water sampling method of water quality monitoring |
| CN110116794B (en) * | 2019-05-29 | 2024-01-23 | 浙江天煌科技实业有限公司 | Mini underwater robot capable of monitoring water quality and water sample collection method |
| CN111409800A (en) * | 2020-04-24 | 2020-07-14 | 杭州电子科技大学 | Intelligent control cabin of underwater robot |
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