CN211922562U - Underwater garbage cleaning equipment for hydroelectric power station - Google Patents
Underwater garbage cleaning equipment for hydroelectric power station Download PDFInfo
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- CN211922562U CN211922562U CN202020030774.XU CN202020030774U CN211922562U CN 211922562 U CN211922562 U CN 211922562U CN 202020030774 U CN202020030774 U CN 202020030774U CN 211922562 U CN211922562 U CN 211922562U
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Abstract
The utility model relates to the technical field of garbage cleaning, in particular to an underwater garbage cleaning device for a hydroelectric power station, which comprises a propeller, a controller and a cleaning mechanism, wherein the cleaning mechanism comprises a processing box, a breaking component, a crushing component, an adsorption component and a clamping component, the controller is fixedly arranged at the top of the processing box through a protective box, and the propeller, the breaking component, the crushing component, the adsorption component and the clamping component are all electrically connected with the controller, compared with the existing underwater garbage cleaning device, the underwater garbage cleaning device for the hydroelectric power station can automatically identify aquatic weeds and avoid the aquatic weeds, effectively prevent the running from being blocked, and can screen and separately collect the underwater garbage through a plastic or metal material through a pattern identification system without manual screening in the later period, thereby avoiding the omission of the garbage and saving the manpower cost, the practicability and the efficiency of garbage cleaning are improved.
Description
Technical Field
The utility model relates to a rubbish clearance technical field, concretely relates to underwater rubbish cleaning equipment for hydroelectric power station.
Background
Hydroelectric power generation, and scientific technology for researching technical and economic problems of engineering construction, production, operation and the like for converting water energy into electric energy. The water energy utilized by hydroelectric power generation is mainly potential energy stored in water. In order to convert water energy into electric energy, different types of hydropower stations need to be built.
The basic principle of hydroelectric generation is to utilize the water level difference to generate electric power by matching with a hydraulic generator, namely, the potential energy of water is converted into the mechanical energy of a water wheel, and then the mechanical energy is used for driving the generator to obtain the electric power. Scientists use the natural condition of the water head, effectively utilize hydraulic engineering, mechanical physics and the like, carefully match to achieve the highest generated energy, provide people with cheap and pollution-free electric power, and hydroenergy is inexhaustible and renewable clean energy, so the water resource plays a great role in the process of hydroelectric power generation.
Therefore, important consideration must be given to the conditions of water flow and water quality, and garbage in water has a certain interference effect on power generation, however, although an underwater working robot is already on the market, when the underwater robot works underwater, the robot is easily blocked in action due to thick and dense waterweeds, i.e., the robot is easily entangled by the waterweeds and loses the action capability, while a general water body garbage fishing device cannot effectively separate and collect different garbage in water, more garbage is easily left in water, manual screening is needed after going to shore, time and labor are wasted, and when larger garbage is encountered, the garbage in water cannot be effectively fished, so that the cleaning efficiency of the garbage in water is affected, and the fishing operation is greatly influenced by human control factors.
According to prior art's not enough, it is necessary to design one kind and possesses image recognition system, and it is not influenced by pasture and water to go under water, can effectively separate the aquatic different rubbish and collect simultaneously, is difficult for omitting after the rubbish clearance to can handle the aquatic rubbish cleaning equipment for hydroelectric power station that salvages great rubbish in the aquatic.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a rubbish clean-up equipment in water for hydroelectric power station.
To achieve the purpose, the utility model adopts the following technical proposal:
the underwater garbage cleaning equipment for the hydroelectric power station comprises a propeller, a controller and a cleaning mechanism, wherein the bottom of the propeller is symmetrically and fixedly provided with two reinforcing ribs, the head of the propeller is provided with a camera, the cleaning mechanism is fixedly arranged at the bottoms of the two reinforcing ribs to clean underwater garbage, the cleaning mechanism comprises a processing box, a breaking component, a crushing component, an adsorption component and a clamping component, the processing box is fixedly arranged at the bottoms of the two reinforcing ribs, the processing box is internally and integrally provided with a first cleaning chamber and a second cleaning chamber, the first cleaning chamber and the second cleaning chamber are symmetrical, the breaking component, the crushing component and the adsorption component are all arranged in the first cleaning chamber, the clamping component is arranged in the second cleaning chamber, the controller is fixedly arranged at the top of the processing box through a protection box, the propeller, the breaking assembly, the crushing assembly, the adsorption assembly and the clamping assembly are all electrically connected with the controller.
Preferably, the rupture subassembly includes first motor, first rotation axis and a plurality of steel rod, first motor passes through seal housing and fixes establishing on the lateral wall of handling the case, and its output passes the lateral wall of handling the case, the rotatable setting of first rotation axis is in the inside of first clean-up room and with the output fixed connection of first motor, and a plurality of steel rod is fixed to be established on the outer wall on first rotation axis circumferencial direction, first motor is connected with the controller electricity.
Preferably, broken subassembly includes second motor, second rotation axis and a plurality of blade, the fixed inside of establishing at seal housing of second motor to its output passes the lateral wall of handling the case, the rotatable setting of second rotation axis is in the inside of first clean-up room and with the output fixed connection of second motor, a plurality of blade is fixed to be established on the outer wall on the second rotation axis circumferencial direction, be equipped with first electronic gate between first rotation axis and the second rotation axis, second motor, first electronic gate all are connected with the controller electricity.
Preferably, the one end that first electric gate was kept away from to the second rotation axis is equipped with second electric gate, the one end laminating that second rotation axis was kept away from to second electric gate is provided with first direction cover, adsorption component includes stand pipe, micromotor and fan, the stand pipe is fixed to be established in the one end that second electric gate was kept away from to first direction cover, the micromotor is fixed to be established in the stand pipe, the fan is fixed to be established on the output of micromotor, second electric gate, micromotor all are connected with the controller electricity.
Preferably, the fixed second direction cover that is equipped with of one end that first direction cover was kept away from to the stand pipe, the laminating of the one end that the stand pipe was kept away from to second direction cover is provided with third electric gate, the side of third electric gate is equipped with collects the room, be equipped with the discharge port on the collection room, the slip is equipped with first sealing door on the discharge port, be equipped with the handle on the first sealing door, third electric gate is connected with the controller electricity.
Preferably, the clamping assembly comprises an electric push rod and an air claw, the electric push rod is fixedly arranged in the second cleaning chamber, the air claw is fixedly arranged at the output end of the electric push rod, and the electric push rod and the air claw are electrically connected with the controller.
Preferably, a plurality of drain holes are formed in the bottoms of the first cleaning chamber and the second cleaning chamber, a second sealing door is arranged on the open end of the treatment box in a sliding mode, and the second sealing door is electrically connected with the controller.
Preferably, an illuminating lamp is fixedly arranged at one end, close to the camera, of the propeller, and the illuminating lamp is electrically connected with the controller.
The utility model has the advantages that: the utility model discloses an aquatic rubbish cleaning equipment for hydroelectric station, through design controller, propeller, light, camera and clearance mechanism, and through five mutually supporting, compare in current aquatic rubbish cleaning equipment, can automatic identification pasture and water and dodge, effectively prevent to travel and hinder, the streamlined whole appearance design of propeller, more its self travel in the water has promoted great flexibility, simultaneously can pass through pattern recognition system, in the water rubbish with plasticity or metal material screening and separately collect, need not later stage manual screening, more avoid the omission of rubbish, thereby the human cost has been practiced thrift, and when collecting plastic rubbish, can change great rubbish into less rubbish and collect through breaking, breakage, the practicality and the efficiency of rubbish clearance have been improved, simultaneously when this equipment is in the rubbish of clearance in the water, excessive manual intervention is not needed, and the labor cost is further saved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments of the present invention are briefly described below.
Fig. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic perspective view of the present invention;
FIG. 3 is a schematic perspective exploded view of the treatment chamber of the present invention;
FIG. 4 is an enlarged view taken at A in FIG. 3;
FIG. 5 is a schematic plan view of the treatment chamber of the present invention;
FIG. 6 is a plan sectional view taken along line B-B of FIG. 5;
FIG. 7 is an enlarged view at C of FIG. 6;
FIG. 8 is an enlarged view of FIG. 6 at D;
fig. 9 is a schematic perspective exploded view of the adsorption assembly of the present invention;
in the figure: the device comprises a propeller 1, a controller 2, a cleaning mechanism 3, a camera 4, a processing box 5, a breaking component 6, a crushing component 7, an adsorption component 8, a clamping component 9, a first cleaning chamber 10, a second cleaning chamber 11, a first motor 12, a first rotating shaft 13, a steel rod 14, a second motor 15, a second rotating shaft 16, a blade 17, a first electric gate 18, a second electric gate 19, a first guide cover 20, a guide pipe 21, a micro-motor 22, a fan 23, a second guide cover 24, a third electric gate 25, a collecting chamber 26, a first sealing door 27, an electric push rod 28, a gas claw 29, a second sealing door 30 and a lighting lamp 31.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some components of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product.
Referring to fig. 1 to 9, the underwater garbage cleaning device for the hydroelectric power station comprises a propeller 1, a controller 2 and a cleaning mechanism 3, wherein the bottom of the propeller 1 is symmetrically and fixedly provided with two reinforcing ribs, the head of the propeller 1 is provided with a camera 4, the cleaning mechanism 3 is fixedly arranged at the bottoms of the two reinforcing ribs to clean the underwater garbage, the cleaning mechanism 3 comprises a treatment tank 5, a breaking component 6, a crushing component 7, an adsorption component 8 and a clamping component 9, the treatment tank 5 is fixedly arranged at the bottoms of the two reinforcing ribs, the treatment tank 5 is internally and integrally provided with a first cleaning chamber 10 and a second cleaning chamber 11, the first cleaning chamber 10 and the second cleaning chamber 11 are symmetrical, the breaking component 6, the crushing component 7 and the adsorption component 8 are all arranged inside the first cleaning chamber 10, the clamping component 9 is arranged inside the second cleaning chamber 11, the controller 2 is fixedly arranged at the top of the treatment box 5 through a protection box, and the propeller 1, the breaking component 6, the crushing component 7, the adsorption component 8 and the clamping component 9 are all electrically connected with the controller 2.
The breaking component 6 comprises a first motor 12, a first rotating shaft 13 and a plurality of steel rods 14, the first motor 12 is fixedly arranged on the side wall of the treatment box 5 through a sealed shell, the output end of the first motor passes through the side wall of the treatment box 5, the first rotating shaft 13 is rotatably arranged in the first cleaning chamber 10 and is fixedly connected with the output end of the first motor 12, the plurality of steel rods 14 are fixedly arranged on the outer wall of the first rotating shaft 13 in the circumferential direction, the first motor 12 is electrically connected with the controller 2, when the propeller 1 runs in water, the camera 4 captures underwater pictures in real time, when garbage is found, the images are compared with image data set in the controller 2, when the garbage is judged to be soft, the adsorption component 8 is started through the controller 2, the soft garbage is sucked into the first cleaning chamber 10 together, and then the first motor 12 is started through the controller 2, thereby drive first rotation axis 13 rotatory, and then drive a plurality of steel rod 14 rotatory, break into shorter length with the softer rubbish of great plasticity or material to make things convenient for crushing subassembly 7 breakage, prevent to block.
The crushing component 7 comprises a second motor 15, a second rotating shaft 16 and a plurality of blades 17, the second motor 15 is fixedly arranged in a sealed shell, the output end of the second motor 15 penetrates through the side wall of the treatment box 5, the second rotating shaft 16 is rotatably arranged in the first cleaning chamber 10 and is fixedly connected with the output end of the second motor 15, the blades 17 are fixedly arranged on the outer wall of the second rotating shaft 16 in the circumferential direction, a first electric gate 18 is arranged between the first rotating shaft 13 and the second rotating shaft 16, the second motor 15 and the first electric gate 18 are both electrically connected with the controller 2, when the soft garbage of plastic or material is broken into a short length, the first electric gate 18 is closed through the controller 2 to prevent water from continuously flowing in, and the second motor 15 is started to drive the second rotating shaft 16 to rotate so as to drive the blades 17 to rotate, the garbage with shorter length and softer plastic or material is crushed.
The one end that first electric gate 18 was kept away from to second rotation axis 16 is equipped with second electric gate 19, the laminating of the one end that second rotation axis 16 was kept away from to second electric gate 19 is provided with first direction cover 20, adsorption component 8 includes stand pipe 21, micromotor 22 and fan 23, the one end that second electric gate 19 was kept away from to first direction cover 20 is fixed to stand pipe 21, micromotor 22 is fixed to be established in stand pipe 21, fan 23 is fixed to be established on micromotor 22's output, second electric gate 19, micromotor 22 all are connected with controller 2 electricity, and after the plasticity with short length or the softer rubbish of material is broken, micromotor 22 drives fan 23 rotatory, inhales the stand pipe 21 with rubbish after the breakage in from first direction cover 20, then closes second electric gate 19 through controller 2, prevents that water from continuing to gush.
A second guide cover 24 is fixedly arranged at one end of the guide pipe 21 far away from the first guide cover 20, a third electric gate 25 is attached to one end of the second guide cover 24 far away from the guide pipe 21, a collecting chamber 26 is arranged beside the third electric gate 25, a discharge port is arranged on the collecting chamber 26, a first sealing door 27 is arranged on the discharge port in a sliding manner, a handle is arranged on the first sealing door 27, the third electric gate 25 is electrically connected with the controller 2, when the second electric shutter 19 is closed, the broken plastic or soft garbage enters the interior of the collection chamber 26 through the second guide cover 24, the third electric shutter 25 is then closed by the controller 2, preventing the crushed waste from flowing back out of the collection chamber 26, when the garbage is cleaned and goes ashore, the discharge port is used for discharging the collected garbage, the first sealing door 27 plays a role in shielding, and the handle is used for opening and closing the first sealing door 27.
The clamping assembly 9 comprises an electric push rod 28 and an air claw 29, the electric push rod 28 is fixedly arranged inside the second cleaning chamber 11, the air claw 29 is fixedly arranged at the output end of the electric push rod 28, the electric push rod 28 and the air claw 29 are both electrically connected with the controller 2, when garbage is found, the garbage is compared with image data set inside the controller 2, when metal garbage is judged, the electric push rod 28 and the air claw 29 are started through the controller 2, then the output end of the electric push rod 28 extends out of the inside of the first cleaning chamber 10, the metal garbage is clamped through the air claw 29, and then the garbage is collected inside the first cleaning chamber 10 through the electric push rod 28 for collection.
The bottom of first clearance room 10 and second clearance room 11 all is equipped with a plurality of wash port to handle the case 5 and open and hold the top slip and be equipped with second sealing door 30, second sealing door 30 is connected with controller 2 electricity, and when discovering rubbish, opens second sealing door 30 through controller 2, inhales rubbish into the inside of first clearance room 10, and the design of wash port is used for carrying out plasticity when the softer material refuse treatment of living, discharges the water in the first clearance room 10, and then conveniently breaks, breaks and collects.
The fixed light 31 that is equipped with of one end that is close to camera 4 of propeller 1, light 31 is connected with controller 2 electricity, because the light of aquatic is not enough, therefore design light 31, when carrying out aquatic rubbish clearance, at first put into the aquatic with propeller 1, then starts light 31 through controller 2, provides the illumination of route of traveling.
The utility model discloses a theory of operation: because the light in the aquatic is not enough, therefore design light 31, when carrying out aquatic rubbish clearance, at first put into the aquatic with propeller 1, then start light 31 through controller 2, provide the illumination of route of traveling.
When propeller 1 traveles in aqueous, camera 4 catches the picture under water in real time, when discovering rubbish, compare with the inside image data who sets for of controller 2, when judging as the softer rubbish of plasticity or material, then open second sealing door 30 through controller 2, inhale the inside of first clearance room 10 with rubbish, rethread controller 2 starts adsorption component 8, inhale the softer rubbish of plasticity or material in first clearance room 10 together, then start first motor 12 through controller 2 again, thereby it is rotatory to drive first rotation axis 13, and then it is rotatory to drive a plurality of steel rod 14, break into shorter length with the softer rubbish of great plasticity or material, in order to make things convenient for crushing subassembly 7 to break, prevent to block.
After the soft waste of plasticity or material is broken into a short length, the controller 2 closes the first electric gate 18 to prevent water from continuously flowing in, and starts the second motor 15 to drive the second rotating shaft 16 to rotate, and further drive the plurality of blades 17 to rotate, so as to crush the soft waste of plasticity or material with short length, after the soft waste of plasticity or material with short length is crushed, the micro motor 22 drives the fan 23 to rotate, the crushed waste is sucked into the guide pipe 21 from the first guide cover 20, then the controller 2 closes the second electric gate 19 to prevent water from continuously flowing in, after the second electric gate 19 is closed, the crushed waste of plasticity or material enters the collection chamber 26 from the second guide cover 24, then the controller 2 closes the third electric gate 25 to prevent the crushed waste from flowing back out of the collection chamber 26, when the garbage is cleaned and landed, the discharge port is used for discharging collected garbage, the first sealing door 27 plays a role in shielding, the handle is used for opening and closing the first sealing door 27, and the drain hole is designed for discharging water in the first cleaning chamber 10 when plastic soft garbage is treated, so that the garbage can be broken, broken and collected conveniently.
When the garbage is found, the image data is compared with the image data set in the controller 2, when the metal garbage is judged, the controller 2 starts the electric push rod 28 and the air claw 29, then the output end of the electric push rod 28 extends out of the inner part of the first cleaning chamber 10, the metal garbage is clamped by the air claw 29, and then the garbage is retracted into the inner part of the first cleaning chamber 10 through the electric push rod 28 to be collected.
Claims (8)
1. The utility model provides a hydroelectric power station is with rubbish clean-up equipment in water, includes propeller (1), its characterized in that: the garbage cleaning machine is characterized by further comprising a controller (2) and a cleaning mechanism (3), wherein the bottom of the propeller (1) is symmetrically and fixedly provided with two reinforcing ribs, the head of the propeller (1) is provided with a camera (4), the cleaning mechanism (3) is fixedly arranged at the bottoms of the two reinforcing ribs to clean garbage in water, the cleaning mechanism (3) comprises a processing box (5), a breaking component (6), a crushing component (7), an adsorption component (8) and a clamping component (9), the processing box (5) is fixedly arranged at the bottoms of the two reinforcing ribs, a first cleaning chamber (10) and a second cleaning chamber (11) are integrally formed inside the processing box (5), the first cleaning chamber (10) and the second cleaning chamber (11) are symmetrical, and the breaking component (6), the crushing component (7) and the adsorption component (8) are all arranged inside the first cleaning chamber (10), the clamping assembly (9) is arranged inside the second cleaning chamber (11), the controller (2) is fixedly arranged at the top of the treatment box (5) through a protection box, and the propeller (1), the breaking assembly (6), the crushing assembly (7), the adsorption assembly (8) and the clamping assembly (9) are all electrically connected with the controller (2).
2. An apparatus according to claim 1, wherein the apparatus further comprises: break subassembly (6) and include first motor (12), first rotation axis (13) and a plurality of steel rod (14), first motor (12) are fixed to be established on the lateral wall of handling case (5) through sealed shell, and the lateral wall of handling case (5) is passed to its output, the rotatable setting of first rotation axis (13) is in the inside of first clean-up room (10) and with the output fixed connection of first motor (12), and a plurality of steel rod (14) are fixed to be established on the outer wall of first rotation axis (13) circumferencial direction, first motor (12) are connected with controller (2) electricity.
3. An apparatus according to claim 2, wherein the apparatus further comprises: broken subassembly (7) include second motor (15), second rotation axis (16) and a plurality of blade (17), second motor (15) are fixed to be established in seal housing's inside to its output passes the lateral wall of handling case (5), the rotatable setting of second rotation axis (16) is in the inside of first clean-up room (10) and with the output fixed connection of second motor (15), a plurality of blade (17) are fixed to be established on the outer wall on second rotation axis (16) circumferencial direction, be equipped with first electronic gate (18) between first rotation axis (13) and second rotation axis (16), second motor (15), first electronic gate (18) all are connected with controller (2) electricity.
4. An apparatus according to claim 3, characterised in that: the one end that first electric gate (18) were kept away from in second rotation axis (16) is equipped with second electric gate (19), the laminating of the one end that second rotation axis (16) were kept away from in second electric gate (19) is provided with first direction cover (20), adsorption component (8) are including stand pipe (21), micromotor (22) and fan (23), the one end of keeping away from second electric gate (19) in first direction cover (20) is fixed to stand pipe (21), micromotor (22) are fixed to be established in stand pipe (21), fan (23) are fixed to be established on the output of micromotor (22), second electric gate (19), micromotor (22) all are connected with controller (2) electricity.
5. An apparatus according to claim 4, wherein the apparatus further comprises: the fixed second direction cover (24) that is equipped with of one end that first direction cover (20) was kept away from in stand pipe (21), the laminating of the one end that stand pipe (21) was kept away from in second direction cover (24) is provided with third electric gate (25), the side of third electric gate (25) is equipped with collects room (26), be equipped with the discharge port on collecting room (26), it is equipped with first sealing door (27) to slide on the discharge port, be equipped with the handle on first sealing door (27), third electric gate (25) are connected with controller (2) electricity.
6. An apparatus according to claim 5, wherein the apparatus further comprises: the clamping assembly (9) comprises an electric push rod (28) and an air claw (29), the electric push rod (28) is fixedly arranged inside the second cleaning chamber (11), the air claw (29) is fixedly arranged at the output end of the electric push rod (28), and the electric push rod (28) and the air claw (29) are electrically connected with the controller (2).
7. An apparatus according to claim 6, characterised in that: the bottom of the first cleaning chamber (10) and the bottom of the second cleaning chamber (11) are respectively provided with a plurality of drain holes, a second sealing door (30) is arranged on the open end of the treatment box (5) in a sliding mode, and the second sealing door (30) is electrically connected with the controller (2).
8. An apparatus according to claim 7, characterized in that: the one end that propeller (1) is close to camera (4) is fixed and is equipped with light (31), light (31) are connected with controller (2) electricity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020030774.XU CN211922562U (en) | 2020-01-07 | 2020-01-07 | Underwater garbage cleaning equipment for hydroelectric power station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020030774.XU CN211922562U (en) | 2020-01-07 | 2020-01-07 | Underwater garbage cleaning equipment for hydroelectric power station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211922562U true CN211922562U (en) | 2020-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020030774.XU Expired - Fee Related CN211922562U (en) | 2020-01-07 | 2020-01-07 | Underwater garbage cleaning equipment for hydroelectric power station |
Country Status (1)
| Country | Link |
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| CN (1) | CN211922562U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113624560A (en) * | 2021-09-27 | 2021-11-09 | 枣庄高新建设集团有限公司 | Underwater environment surveying device for hydraulic engineering |
| CN114013858A (en) * | 2021-11-24 | 2022-02-08 | 广州大学 | Marine waste classified collection system |
| CN114211469A (en) * | 2021-12-16 | 2022-03-22 | 上海交通大学三亚崖州湾深海科技研究院 | Seabed cleaning robot |
| CN114319279A (en) * | 2021-12-30 | 2022-04-12 | 广东盈峰智能环卫科技有限公司 | Garbage collection robot |
| CN114541353A (en) * | 2022-03-18 | 2022-05-27 | 上海交通大学 | Underwater garbage cleaning robot |
| CN114537603A (en) * | 2022-03-18 | 2022-05-27 | 上海交通大学 | Water body garbage cleaning ship |
-
2020
- 2020-01-07 CN CN202020030774.XU patent/CN211922562U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113624560A (en) * | 2021-09-27 | 2021-11-09 | 枣庄高新建设集团有限公司 | Underwater environment surveying device for hydraulic engineering |
| CN114013858A (en) * | 2021-11-24 | 2022-02-08 | 广州大学 | Marine waste classified collection system |
| CN114211469A (en) * | 2021-12-16 | 2022-03-22 | 上海交通大学三亚崖州湾深海科技研究院 | Seabed cleaning robot |
| CN114319279A (en) * | 2021-12-30 | 2022-04-12 | 广东盈峰智能环卫科技有限公司 | Garbage collection robot |
| CN114541353A (en) * | 2022-03-18 | 2022-05-27 | 上海交通大学 | Underwater garbage cleaning robot |
| CN114537603A (en) * | 2022-03-18 | 2022-05-27 | 上海交通大学 | Water body garbage cleaning ship |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201113 Termination date: 20220107 |
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| CF01 | Termination of patent right due to non-payment of annual fee |