CN213414188U - Underwater detection robot with novel power transmission system and steering mechanism - Google Patents
Underwater detection robot with novel power transmission system and steering mechanism Download PDFInfo
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- CN213414188U CN213414188U CN202021193741.3U CN202021193741U CN213414188U CN 213414188 U CN213414188 U CN 213414188U CN 202021193741 U CN202021193741 U CN 202021193741U CN 213414188 U CN213414188 U CN 213414188U
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- 238000001514 detection method Methods 0.000 title claims abstract description 7
- 238000007789 sealing Methods 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 6
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Abstract
The patent of the utility model mainly provides an underwater detection robot with novel power transmission system and steering mechanism, not only small, ingenious combination through steering mechanism and reversing mechanism for the robot is more nimble flexible when carrying out the operation under water. Each transmission shaft all has the bearing to support, still is equipped with multiple sensor and camera in the front end for collect the part information under water. Its only power supply has reduced the degree of freedom figure of mechanism's motion, the utility model discloses a break through traditional underwater robot power supply more to the redundant restriction that causes control to complicate and continue the time of voyage under water of degree of freedom, thereby make the utility model discloses a realize navigating under water long-time through simple high-efficient control.
Description
The technical field is as follows:
the utility model belongs to the detection robot field, concretely relates to underwater detection robot with novel power transmission system and steering mechanism.
Background art:
at present, resources on land are gradually developed to the limit, and the energy field is shifted to sustainable and clean energy development. A plurality of clean and sustainable new energy sources are hidden underwater and can be developed and utilized, but the underwater energy sources are limited by the problem of detection cost of underwater robots, and the resource development of the underwater resources is in a starting stage. At present, a general underwater robot has the disadvantages of inflexible underwater motion, large number of propellers, complex control and short underwater endurance; the sealing between robots is so poor that a control unit within the robot is short-circuited, and thus it is very necessary to design a robot structure capable of overcoming the above problems.
The utility model has the following contents:
in order to solve the technical problem, the utility model relates to an underwater exploration robot with novel driving system and steering mechanism, include: the device comprises a first shell, a control unit, a power bin, a third shell, a tail part, a steering rudder, a servo motor, a fourth shell, a propeller, a tail steering rudder and a tail steering shaft.
And the first shell is matched with the power bin through bolts. The power bin is matched with the third shell through bolts, the third shell is matched with the fourth shell through threads, and sealing rings are arranged on the shells in a connecting mode.
The tail part is matched with the third shell through screws.
A servo motor support is arranged between the servo motor and the power bin to support the servo motor.
The tail reversing rudder is matched with the tail through a shaft sleeve.
And a steering rudder is arranged on the surface of the tail reversing rudder.
And the tail steering rudder is in clearance fit with the tail steering shaft.
The power bin is characterized in that a motor frame is arranged at one end of the power bin, a servo motor is arranged on the surface of the motor frame, a control unit is arranged on the surface of the servo motor, a motor shaft is arranged on the side face of the servo motor, a power gear is arranged at the tail end of the motor shaft, a first meshing power straight gear is arranged on the circumferential surface of the lower end of the power gear, a first power shaft is arranged at the center of the first power straight gear, a first reversing bevel gear is arranged at the front end of the first power shaft, a third power straight gear is arranged at the tail end of the first power shaft, a second meshing reversing bevel gear is arranged on the circumferential surface of the lower end of the second reversing bevel gear, the lower part of the second reversing bevel gear is connected with a reversing box body through a connecting column, one end of the side face of the reversing box body is fixed with the bottom, a second reversing shaft is arranged in the middle of the fourth reversing bevel gear, a first reversing straight gear is arranged at the front end of the second reversing shaft, the first reversing straight gear is connected with the side face of the reversing box body through a rack, a first steering straight gear is arranged on the circumferential surface of the upper end of the power gear, a first steering shaft is arranged at the center of the first steering straight gear, a second support frame is arranged at the front end of the first steering shaft and connected with the upper portion of the power bin, a first steering bevel gear and a third steering bevel gear are arranged at the tail end of the first steering shaft, an inner bevel gear is arranged on the three side face of the third steering bevel gear, the inner bevel gear and the third steering bevel gear are arranged on the same central line but have a distance therebetween, a second steering shaft is arranged in the middle of the inner bevel gear, a third support frame is arranged at the front end of the second steering shaft and connected, a third steering shaft is arranged in the middle of the third steering straight gear, the other end of the third steering shaft is connected with a second power straight gear, the third power straight gear is meshed with the second power straight gear 38, a fifth steering straight gear is arranged at the rear end of the third steering shaft, a fourth fixedly connected steering shaft is arranged at the rear end of the first steering shaft, a second steering conical gear and a fifth steering conical gear are sequentially arranged at the lower end of the fourth steering shaft, the fifth steering conical gear is meshed with the fourth steering conical gear, a fourth steering shaft is arranged in the middle of the fourth steering conical gear, a fifth support frame is arranged at the front end of the fourth steering shaft and fixedly connected with the bottom surface, a sixth steering straight gear is arranged at the tail end of the fourth steering shaft and meshed with the fifth steering straight gear, a second power shaft is arranged in the middle of the second power shaft, a fourth housing is arranged in the middle of the second power shaft, and is triangular, the front end of the shell four is provided with a propeller, the rear end of the power shaft two is provided with a steering conical gear six, the circumferential surface of the steering conical gear six is provided with a meshing steering conical gear seven, the middle of the steering conical gear seven is provided with a tail steering shaft, two ends of the tail steering shaft are respectively fixedly connected with the top surface and the bottom surface of the tail part,
according to the technical scheme, a second reversing straight gear is arranged on the surface of the tail steering rudder, a third middle reversing straight gear is arranged on the inner side surface of the tail steering rudder, a fixing frame is arranged on the inner side surface of the tail steering rudder, and a propeller is arranged in the middle of the fixing frame.
Compared with the prior art, the beneficial effects of the utility model are that: the tail part utilizes the combination of the steering rudder and the reversing rudder to ensure that the robot can flexibly float, dive, turn left, turn right and other actions under water; the power source is one, so that the control is simple, the underwater endurance is increased, and the energy is saved; the sealing performance between the robot shells is good, so that the robot can run under water for a longer time; the steering mechanism and the reversing mechanism of the robot are simple, and the turning, floating and submerging of the robot can be realized only by controlling the corresponding coils to work through the control unit; the utility model discloses a size is little, makes the utility model discloses a can survey and rescue at constrictive sea ditch.
Description of the drawings:
the accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention.
In the drawings:
fig. 1 is an overall schematic view of the present invention;
FIG. 2 is a partial schematic view of the present invention;
FIG. 3 is a partial schematic view of the present invention;
FIG. 4 is a partial schematic view of the present invention;
FIG. 5 is a partial schematic view of the present invention;
FIG. 6 is a partial schematic view of the present invention;
in the figure: 1-first housing, 2-control unit, 3-power bin, 4-third housing, 5-tail, 6-steering rudder, 7-servo motor, 8-fourth housing, 9-propeller, 10-tail steering rudder, 11-power gear, 12-first steering spur gear, 13-first steering shaft, 14-first steering bevel gear, 15-second steering bevel gear, 16-third steering bevel gear, 17-inner bevel gear, 18-second steering spur gear, 19-second steering shaft, 20-third steering spur gear, 21-third steering shaft, 22-fourth steering shaft, 23-first power shaft, 24-fourth steering shaft, 25-fourth steering bevel gear, 26-fifth steering bevel gear, 27-second steering shaft, 28-rack, 29-first reversing straight gear, 30-fourth reversing straight gear, 31-third reversing straight gear, 32-first reversing shaft, 33-reversing box, 34-second reversing straight gear, 35-first reversing straight gear, 36-first power straight gear, 37-fifth reversing straight gear, 38-second power straight gear, 39-second power shaft, 40-third power straight gear, 41-1-sixth reversing straight gear, 41-sixth reversing straight gear, 42-seventh reversing straight gear, 43-tail steering shaft, 44-second reversing straight gear and 45-third reversing straight gear.
The specific implementation mode is as follows:
as shown in the figure, an underwater exploration robot with a novel power system and a steering mechanism comprises: the device comprises a first shell 1, a control unit 2, a power bin 3, a third shell 4, a tail part 5, a steering rudder 6, a servo motor 7, a fourth shell 8, a propeller 9, a tail steering rudder 10 and a tail steering shaft 43.
And the first shell 1 is matched with the power bin 3 through bolts. The power bin 3 is matched with the third shell 4 through bolts, the third shell 4 is matched with the fourth shell 8 through threads, and sealing rings are arranged on the shells in a connecting mode.
The tail part 5 is matched with the shell III 4 through screws.
A servo motor support is arranged between the servo motor 7 and the power bin 3 to support the servo motor.
The tail reversing rudder 10 is matched with the tail part 5 through a shaft sleeve.
The surface of the tail reversing rudder 10 is provided with a steering rudder 6.
The tail steering rudder 10 is in clearance fit with the tail steering shaft 43.
The power bin is characterized in that a motor frame is arranged at one end of the power bin 3, a servo motor 7 is arranged on the surface of the motor frame, a control unit 2 is arranged on the surface of the servo motor 7, a motor shaft is arranged on the side surface of the motor shaft, a power gear 11 is arranged at the tail end of the motor shaft, a first meshing power straight gear 36 is arranged on the circumferential surface of the lower end of the power gear 11, a first power shaft 23 is arranged in the center of the first power straight gear 36, a first reversing bevel gear 35 is arranged at the front end of the first power shaft 23, a third power straight gear 40 is arranged at the tail end of the first reversing bevel gear 35, a second meshing reversing bevel gear 34 is arranged on the circumferential surface of the lower end of the first reversing bevel gear 35, the lower portion of the second reversing bevel gear 34 is connected with a reversing box body 33 through a connecting column, one end of the side surface of the reversing box body 33 is fixed with the bottom surface of the, the middle of the fourth reversing conical gear 30 is provided with a second reversing shaft 27, the front end of the second reversing shaft 27 is provided with a first reversing straight gear 29, the first reversing straight gear 29 is connected with the side face of a reversing box body 33 through a rack 28, the circumferential surface of the upper end of the power gear 11 is provided with a first steering straight gear 12, the center of the first steering straight gear 12 is provided with a first steering shaft 13, the front end of the first steering shaft 13 is provided with a second support frame connected with the upper part of the power bin 3, the tail end of the first steering shaft is provided with a first steering conical gear 14 and a third steering conical gear 16, the side face of the third steering conical gear 16 is provided with an inner conical gear 17, the inner conical gear 17 and the third steering conical gear 16 have a distance between the same central line, the middle of the inner conical gear 17 is provided with a second steering shaft 19, the front end of the second steering shaft 19 is provided with, the lower end of the second steering straight gear 18 is provided with a third meshing steering straight gear 20, the middle of the third steering straight gear 20 is provided with a third steering shaft 21, the other end of the third steering shaft 21 is connected with a second power straight gear 38, a third power straight gear 40 is meshed with the second power straight gear 38, the rear end of the third steering shaft 21 is provided with a fifth steering straight gear 37, the rear end of the first steering shaft 13 is fixedly connected with a fourth steering shaft 24, the lower end of the fourth steering shaft 24 is sequentially provided with a second steering conical gear 15 and a fifth steering conical gear 26, the fifth steering conical gear 26 is provided with a fourth meshing steering conical gear 25, the middle of the fourth steering conical gear 25 is provided with a fourth steering shaft 22, the front end of the fourth steering shaft 22 is provided with a fifth support frame, the fifth support frame is fixedly connected with the bottom surface, the tail end of the fourth steering shaft 22 is provided with a sixth steering straight gear 41-1, the sixth steering straight gear 41-1 is meshed with the fifth steering straight, a second power shaft 39 is arranged in the middle of the second power straight gear 38, a fourth shell 8 is arranged in the middle of the second power shaft 39, the fourth shell 8 is triangular, a propeller 9 is arranged at the front end of the fourth shell 8, a sixth steering bevel gear 41 is arranged at the rear end of the second power shaft 39, a seventh meshing steering bevel gear 42 is arranged on the circumferential surface of the sixth steering bevel gear 41, a seventh tail steering shaft 43 is arranged in the middle of the seventh steering bevel gear 42, two ends of the seventh tail steering shaft 43 are fixedly connected with the top surface and the bottom surface of the tail 5 respectively,
the surface of the tail steering rudder 10 is provided with a second reversing straight gear 44, the inner side surface of the tail steering rudder is provided with a third middle reversing straight gear 45, the inner side surface of the tail steering rudder is provided with a fixed frame, and the middle of the fixed frame is provided with a propeller 9.
The working principle is as follows: power transmission in a straight-ahead state: the servo motor 7 motor shaft cooperates with the 11 direction keys of power gear, and power gear 11 cooperates with the first 36 gears of power straight-teeth gear, the first 23 of power shaft cooperates with the first 36 of power straight-teeth gear, the first 35 of switching-over conical gear, the third 40 direction keys of power straight-teeth gear respectively, the third 40 of power straight-teeth gear cooperates with the second 38 gears of power straight-teeth gear, the second 39 of power shaft cooperates with the second 38 circumference fixed coordination of power straight-teeth gear, the second 39 of power shaft cooperates with screw 9 nut to provide the power of advancing for underwater robot.
The steering shaft I13 is fixedly matched with the steering straight gear I12, the steering conical gear II 15 and the steering conical gear III 16 in the circumferential direction respectively, the steering conical gear III 16 is staggered with the inner conical gear 17 and does not transmit power, the steering conical gear II 15 is staggered with the steering conical gear I14 and does not transmit power, and therefore the steering rudder 6 is kept at a vertical position, and the underwater robot can move forwards in a straight line.
The first reversing bevel gear 35 and the second reversing bevel gear 34 are staggered, power is not transmitted, the steering rudder 10 is in a vertical or horizontal position, and therefore the underwater robot can move forwards and straightly.
Power transmission in a left-hand driving state: the servo motor 7 motor shaft cooperates with the 11 direction keys of power gear, and power gear 11 cooperates with the first 36 gears of power straight-teeth gear, the first 23 of power shaft cooperates with the first 36 of power straight-teeth gear, the first 35 of switching-over conical gear, the third 40 direction keys of power straight-teeth gear respectively, the third 40 of power straight-teeth gear cooperates with the second 38 gears of power straight-teeth gear, the second 39 of power shaft cooperates with the second 38 circumference fixed coordination of power straight-teeth gear, the second 39 of power shaft cooperates with screw 9 nut to provide the power of advancing for underwater robot.
The power gear 11 with turn to a spur gear 12 gear cooperation, a steering shaft 13 respectively with turn to a spur gear 12, turn to two 15, the three 16 circumference fixed coordination of steering bevel gear, turn to three 16 and the cooperation of interior conical gear 17 gear of steering bevel gear, turn to two 15 and the parallel non-intersect of a steering bevel gear 14, do not transmit power, two 19 guiding key cooperations with interior conical gear 17, two 18 steering spur gears respectively of steering shaft. The second steering straight gear 18 is in gear fit with the third steering straight gear 20, the third steering shaft 21 is in circumferential fixed fit with the third steering straight gear 20, the fifth steering straight gear 37 and the sixth steering conical gear 41 respectively, and the sixth steering conical gear 41 is in gear fit with the seventh steering conical gear 42, so that the steering rudder 6 rotates to the right side, and the underwater robot can move forwards leftwards.
The first reversing bevel gear 35 and the second reversing bevel gear 34 are staggered, power is not transmitted, the steering rudder 10 is in a vertical position, and therefore the underwater robot can move forwards leftwards.
Power transmission in a reversing state: the servo motor 7 motor shaft cooperates with the 11 direction keys of power gear, and power gear 11 cooperates with the first 36 gears of power straight-teeth gear, the first 23 of power shaft cooperates with the first 36 of power straight-teeth gear, the first 35 of switching-over conical gear, the third 40 direction keys of power straight-teeth gear respectively, the third 40 of power straight-teeth gear cooperates with the second 38 gears of power straight-teeth gear, the second 39 of power shaft cooperates with the second 38 circumference fixed coordination of power straight-teeth gear, the second 39 of power shaft cooperates with screw 9 nut to provide the power of advancing for underwater robot.
The power gear 11 with turn to a 12 gear cooperations of straight-teeth gear, a steering spindle 13 respectively with turn to straight-teeth gear 12, turn to two 15, turn to three 16 circumference fixed coordination of conical gear, turn to three 16 and stagger with interior conical gear 17, do not transmit power, turn to two 15 and turn to 14 gear cooperations of conical gear, four 24 of steering spindle respectively with turn to one 14 of conical gear, turn to five 26 circumference fixed coordination of conical gear, turn to four 25 and the cooperation of five 26 gears of conical gear, turn to four 22 of steering spindle respectively with turn to four 25 of conical gear, turn to six 41-1 circumference fixed coordination of straight-teeth gear. And the steering straight gear six 41-1 is in gear engagement with the steering straight gear five 37. The third steering shaft 21 is respectively and fixedly matched with the third steering straight gear 20, the fifth steering straight gear 37 and the sixth steering conical gear 41 in the circumferential direction. The six steering bevel gears 41 and the seven steering bevel gears 42 are in gear fit, so that the steering rudder 6 rotates to the left side, and the underwater robot can move forwards to the right.
The first reversing bevel gear 35 and the second reversing bevel gear 34 are staggered, power is not transmitted, the steering rudder 10 is in a vertical position, and therefore the underwater robot can move forwards to the right.
Power transmission in a reversing state: the servo motor 7 motor shaft cooperates with the 11 direction keys of power gear, and power gear 11 cooperates with the first 36 gears of power straight-teeth gear, the first 23 of power shaft cooperates with the first 36 of power straight-teeth gear, the first 35 of switching-over conical gear, the third 40 direction keys of power straight-teeth gear respectively, the third 40 of power straight-teeth gear cooperates with the second 38 gears of power straight-teeth gear, the second 39 of power shaft cooperates with the second 38 circumference fixed coordination of power straight-teeth gear, the second 39 of power shaft cooperates with screw 9 nut to provide the power of advancing for underwater robot.
The steering shaft I13 is respectively and fixedly matched with the steering straight gear I12, the steering conical gear II 15 and the steering conical gear III 16 in the circumferential direction, the steering conical gear III 16 is staggered with the inner conical gear 17 and does not transmit power, the steering conical gear II 15 is staggered with the steering conical gear I14 and does not transmit power, and the steering rudder 6 is kept in a straight-moving state.
The power gear 11 is matched with a first power straight gear 36 through a gear, a first power shaft 23 is matched with a first reversing conical gear 35 through a guide key, the first reversing conical gear 35 is matched with a second reversing conical gear 34 through a gear, a first reversing shaft 32 is respectively matched with a third reversing conical gear 31 and a second reversing conical gear 34 in a circumferential fixed mode, the third reversing conical gear 31 is matched with a fourth reversing conical gear 30 through a gear, a second reversing shaft 27 is respectively matched with a first reversing straight gear 29, a fourth reversing conical gear 30 and a second reversing straight gear 44 through a guide key, the first reversing straight gear 29 is staggered with the rack 28, the second reversing shaft 27 can rotate, the second reversing straight gear 44 is matched with a third reversing straight gear 45 through a gear, and the reversing rudder 10 can rotate by 360 degrees so that the vertical position and the horizontal position of the reversing rudder 6 can be changed.
The technical means disclosed by the scheme of the utility model is not limited to the technical means disclosed by the technical means, but also comprises the technical scheme consisting of the equivalent replacement of the technical features. The present invention is not to be considered as the best thing, and belongs to the common general knowledge of the technicians in the field.
Claims (2)
1. An underwater exploration robot with a novel power transmission system and a steering mechanism is characterized by comprising: a first shell, a control unit, a power bin, a third shell, a tail part, a steering rudder, a servo motor, a fourth shell, a propeller, a tail part steering rudder and a tail part steering shaft,
the first shell is matched with the power bin through bolts, the power bin is matched with the third shell through bolts, the third shell is matched with the fourth shell through threads, and sealing rings are arranged at the connection between the third shell and the fourth shell,
the tail part is matched with the third shell through screws,
a servo motor bracket is arranged between the servo motor and the power bin to support the servo motor,
the tail reversing rudder is matched with the tail part through a shaft sleeve,
the surface of the tail reversing rudder is provided with a steering rudder,
the tail steering rudder is in clearance fit with the tail steering shaft,
the power bin is characterized in that a motor frame is arranged at one end of the power bin, a servo motor is arranged on the surface of the motor frame, a control unit is arranged on the surface of the servo motor, a motor shaft is arranged on the side face of the servo motor, a power gear is arranged at the tail end of the motor shaft, a first meshing power straight gear is arranged on the circumferential surface of the lower end of the power gear, a first power shaft is arranged at the center of the first power straight gear, a first reversing bevel gear is arranged at the front end of the first power shaft, a third power straight gear is arranged at the tail end of the first power shaft, a second meshing reversing bevel gear is arranged on the circumferential surface of the lower end of the second reversing bevel gear, the lower part of the second reversing bevel gear is connected with a reversing box body through a connecting column, one end of the side face of the reversing box body is fixed with the bottom, a second reversing shaft is arranged in the middle of the fourth reversing bevel gear, a first reversing straight gear is arranged at the front end of the second reversing shaft, the first reversing straight gear is connected with the side face of the reversing box body through a rack, a first steering straight gear is arranged on the circumferential surface of the upper end of the power gear, a first steering shaft is arranged at the center of the first steering straight gear, a second support frame is arranged at the front end of the first steering shaft and connected with the upper portion of the power bin, a first steering bevel gear and a third steering bevel gear are arranged at the tail end of the first steering shaft, an inner bevel gear is arranged on the three side face of the third steering bevel gear, the inner bevel gear and the third steering bevel gear are arranged on the same central line but have a distance therebetween, a second steering shaft is arranged in the middle of the inner bevel gear, a third support frame is arranged at the front end of the second steering shaft and connected, a third steering shaft is arranged in the middle of the third steering straight gear, the other end of the third steering shaft is connected with a second power straight gear, the third power straight gear is meshed with the second power straight gear, a fifth steering straight gear is arranged at the rear end of the third steering shaft, a fourth fixedly connected steering shaft is arranged at the rear end of the first steering shaft, a second steering conical gear and a fifth steering conical gear are sequentially arranged at the lower end of the fourth steering shaft, the fifth steering conical gear is meshed with the fourth steering conical gear, a fourth steering shaft is arranged in the middle of the fourth steering conical gear, a fifth support frame is arranged at the front end of the fourth steering shaft and fixedly connected with the bottom surface, a sixth steering straight gear is arranged at the tail end of the fourth steering shaft and meshed with the fifth steering straight gear, a second power shaft is arranged in the middle of the second power straight gear, a fourth shell is arranged in the middle of the second power shaft, and the fourth shell is a triangle, the front end of the shell four is provided with a propeller, the rear end of the power shaft two is provided with a steering conical gear six, the periphery of the steering conical gear six is provided with a meshing steering conical gear seven, the middle of the steering conical gear seven is provided with a tail steering shaft, and two ends of the tail steering shaft are fixedly connected with the top surface and the bottom surface of the tail respectively.
2. The underwater detection robot with the novel power transmission system and the steering mechanism as claimed in claim 1, wherein: the surface of the tail reversing rudder is provided with a second reversing straight gear, the inner side surface of the tail reversing rudder is provided with a third middle reversing straight gear, the inner side surface of the tail reversing rudder is provided with a fixing frame, and the middle of the fixing frame is provided with a propeller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021193741.3U CN213414188U (en) | 2020-06-24 | 2020-06-24 | Underwater detection robot with novel power transmission system and steering mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021193741.3U CN213414188U (en) | 2020-06-24 | 2020-06-24 | Underwater detection robot with novel power transmission system and steering mechanism |
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| CN213414188U true CN213414188U (en) | 2021-06-11 |
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| CN202021193741.3U Active CN213414188U (en) | 2020-06-24 | 2020-06-24 | Underwater detection robot with novel power transmission system and steering mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111591416A (en) * | 2020-06-24 | 2020-08-28 | 南京工业职业技术学院 | Underwater detection robot with novel power transmission system and steering mechanism |
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2020
- 2020-06-24 CN CN202021193741.3U patent/CN213414188U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111591416A (en) * | 2020-06-24 | 2020-08-28 | 南京工业职业技术学院 | Underwater detection robot with novel power transmission system and steering mechanism |
| CN111591416B (en) * | 2020-06-24 | 2024-03-26 | 南京工业职业技术学院 | Underwater detection robot with power transmission system and steering mechanism |
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Address after: No.1, Yangshan North Road, Xianlin University Town, Nanjing, Jiangsu Province, 210023 Patentee after: Nanjing Vocational University of Industry Technology Address before: No.1, Yangshan North Road, Xianlin University Town, Nanjing, Jiangsu Province, 210023 Patentee before: NANJING INSTITUTE OF INDUSTRY TECHNOLOGY |
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Effective date of registration: 20240110 Address after: 134600 Group 4, Jianguo 1st Committee, Jianguo Street, Linjiang City, Baishan City, Jilin Province Patentee after: Jiang Junkai Address before: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Dragon totem Technology (Hefei) Co.,Ltd. Effective date of registration: 20240110 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: No. 1 Yangshan North Road, Xianlin University City, Nanjing City, Jiangsu Province, 210023 Patentee before: Nanjing Vocational University of Industry Technology |
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