CN219648594U - Underwater obstacle breaking device - Google Patents
Underwater obstacle breaking device Download PDFInfo
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- CN219648594U CN219648594U CN202320417648.3U CN202320417648U CN219648594U CN 219648594 U CN219648594 U CN 219648594U CN 202320417648 U CN202320417648 U CN 202320417648U CN 219648594 U CN219648594 U CN 219648594U
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- mechanical arm
- underwater
- breaking device
- transmission mechanism
- cutting
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- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 230000005540 biological transmission Effects 0.000 claims abstract description 42
- 210000000078 claw Anatomy 0.000 claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims description 27
- 239000000463 material Substances 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 description 7
- 108010066278 cabin-4 Proteins 0.000 description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 3
- 239000002861 polymer material Substances 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
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Abstract
The utility model discloses an underwater obstacle breaking device, which is arranged on an underwater robot platform and comprises: the anti-collision frame is provided with a hollowed-out frame structure; the mechanical arm module comprises a mechanical arm and a claw, one end of the mechanical arm is fixedly arranged in the anti-collision frame, the other end of the mechanical arm is provided with the claw which is movably arranged outside the anti-collision frame, and the claw is used for clamping and fixing an obstacle; the cutting module comprises a first hydraulic transmission mechanism and a cutting piece, wherein one end of the first hydraulic transmission mechanism is fixedly arranged on the top surface of the mechanical arm module, the other end of the first hydraulic transmission mechanism is movably arranged outside the anti-collision frame, and the movable end of the first hydraulic transmission mechanism is provided with the cutting piece for cutting the obstacle along the vertical direction. The underwater obstacle breaking device can replace personnel to perform long-time underwater obstacle cable cutting breaking operation, has high working efficiency, can lighten personnel operation burden, improves the safety of underwater operation, and is convenient and quick to replace a cutting piece and simple to maintain.
Description
Technical Field
The utility model relates to the technical field of underwater cleaning, in particular to an underwater obstacle breaking device.
Background
When encountering obstacles such as windings and the like under water, the obstacle breaking operation is needed, and a worker can perform various functional operations such as underwater cable cutting, cleaning of ship propeller windings, breaking of underwater partial obstacles of a wharf and the like.
In the prior art, most workers carry out underwater cutting and barrier breaking operation by using a hydraulic shear, however, the hydraulic shear has certain limitations on the cable diameter, the cable hardness and the like when cutting the cable, and if the cable diameter is too large, the cable hardness is too hard, or the hydraulic shear has insufficient power, the cable is difficult to cut. The hydraulic scissors are easy to clamp the cable into the scissors blades when in use, and the scissors blades cannot be opened, so that a diver is required to remove faults underwater. In addition, the cutting edge of the shearing blade is difficult to replace after being worn. Thus, not only is the workload of the staff increased, but also the safety of the staff in underwater operation is difficult to ensure.
In summary, how to provide an underwater obstacle-breaking device capable of being remotely operated on the ground is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, an object of the present utility model is to provide an underwater obstacle-breaking device which can be remotely operated on the ground and can be operated efficiently and safely.
In order to achieve the above object, the present utility model provides the following technical solutions:
an underwater obstacle-breaking device provided on an underwater robot platform, comprising: the anti-collision frame is provided with a hollowed-out frame structure; the mechanical arm module comprises a mechanical arm and a claw, one end of the mechanical arm is fixedly arranged in the anti-collision frame, the other end of the mechanical arm is provided with the claw which is movably arranged outside the anti-collision frame, and the claw performs opening and closing movements for clamping and fixing the obstacle; the cutting module comprises a first hydraulic transmission mechanism and a cutting piece, wherein one end of the first hydraulic transmission mechanism is fixedly arranged on the top surface of the mechanical arm module, the other end of the first hydraulic transmission mechanism is movably arranged outside the anti-collision frame, the movable end of the first hydraulic transmission mechanism is provided with the cutting piece along the vertical direction, and the cutting piece is used for cutting an obstacle in a rotary motion.
The mechanical arm module further comprises a second hydraulic transmission mechanism for driving the mechanical arm to complete rotation and telescopic movement and for driving the clamping jaws to complete opening and closing movement.
The underwater obstacle breaking device further comprises a watertight cabin, and the outer wall of the watertight cabin is fixedly connected with the inner wall of the anti-collision frame.
The underwater obstacle breaking device is characterized in that a hydraulic control mechanism is arranged in the watertight cabin and used for controlling and driving the first hydraulic transmission mechanism and the second hydraulic transmission mechanism.
An electric appliance bin is arranged in the watertight cabin, and a circuit board is arranged in the electric appliance bin and used for controlling a hydraulic control mechanism.
A hydraulic control mechanism and two ends of an electric appliance bin are sleeved with hoops, and the hoops are fixedly connected to the bottom surface of a watertight cabin.
An underwater obstacle breaking device is characterized in that a six-way valve is arranged in a watertight cabin, and is provided with an interface connected with an underwater robot platform.
An underwater obstacle breaking device, wherein the top surface of the watertight cabin is provided with a buoyancy material.
A clamping block is arranged between the top surface of the mechanical arm module and the bottom surface of the cutting module.
The utility model provides an obstacle breaking device under water, crashproof frame includes curb plate and bottom plate, and the curb plate is equipped with two and locates the both sides of bottom plate along vertical direction respectively.
Compared with the background art, the underwater obstacle breaking device provided by the utility model is arranged on an underwater robot platform and comprises: the anti-collision frame is provided with a hollowed-out frame structure; the mechanical arm module comprises a mechanical arm and a claw, one end of the mechanical arm is fixedly arranged in the anti-collision frame, the other end of the mechanical arm is provided with the claw which is movably arranged outside the anti-collision frame, and the claw performs opening and closing movements for clamping and fixing the obstacle; the cutting module comprises a first hydraulic transmission mechanism and a cutting piece, wherein one end of the first hydraulic transmission mechanism is fixedly arranged on the top surface of the mechanical arm module, the other end of the first hydraulic transmission mechanism is movably arranged outside the anti-collision frame, the movable end of the first hydraulic transmission mechanism is provided with the cutting piece along the vertical direction, and the cutting piece is used for cutting the obstacle in a rotary motion.
The underwater obstacle breaking device provided by the utility model can be installed on an underwater robot platform for use, an underwater obstacle breaking task is completed through the cooperation of the mechanical arm module and the cutting module, the clamping jaw is arranged at the tail end of the mechanical arm, the mechanical arm can complete stretching and rotating movement, the clamping jaw can complete stretching and closing movement, the cutting module is arranged above the mechanical arm module and can synchronously move along with the mechanical arm, the cutting blade is arranged at the tail end of the first hydraulic transmission mechanism, the first hydraulic transmission mechanism can complete stretching movement, and the cutting blade can complete rotating movement. When encountering the obstacle cable, the arm can rotate and stretch out and draw back and drive the jack catch to remove suitable position, and the jack catch can close the fixed cable of centre gripping, and the cutting piece can cut the cable, and first hydraulic drive mechanism can drive the cutting piece according to certain speed and evenly move until the completion cutting. The anti-collision frame can protect the mechanical arm module and the cutting module, avoid being impacted, and the anti-collision frame is hollow structure, can lighten the weight of the anti-collision frame, and then reduce the energy consumption.
The underwater obstacle breaking device can replace personnel to perform long-time underwater obstacle cable cutting breaking operation, the working efficiency is high, the personnel operation burden can be reduced, the safety of underwater operation is improved, the cutting speed can be adjusted according to the hardness and the diameter of an obstacle by the mechanical arm module, the cutting precision is high, the damage of a cutting piece is reduced, meanwhile, the cutting piece is convenient to replace, the maintenance is simple, and the economic benefit is good.
In addition, the underwater obstacle breaking device provided by the utility model can complete clamping operation by independently using the mechanical arm module after the cutting module is disassembled, and the device is flexible and multipurpose and has a wide application range.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present utility model, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a side view of an underwater barrier breaking apparatus provided by the present utility model;
FIG. 2 is a top view of the underwater barrier breaking apparatus provided by the present utility model;
FIG. 3 is a front view of the underwater barrier breaking apparatus provided by the present utility model;
fig. 4 is a schematic view of the underwater obstacle breaking device provided by the utility model mounted on an underwater robot platform.
Wherein:
01-underwater robot platform,
1-anti-collision frame, 11-side plates, 12-bottom plate,
2-mechanical arm module, 21-mechanical arm, 22-claw, 23-second hydraulic transmission mechanism,
3-cutting module, 31-first hydraulic transmission mechanism, 32-cutting blade,
4-watertight cabin, 41-hydraulic control mechanism, 42-electric appliance cabin, 43-six-way valve,
5-throat hoop, 6-clamping block and 7-fastener.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
The present utility model will be further described in detail below with reference to the drawings and detailed description for the purpose of enabling those skilled in the art to better understand the aspects of the present utility model.
The underwater obstacle breaking device provided by the embodiment of the utility model, as shown in fig. 1 to 4 of the specification, is arranged on an underwater robot platform 01, and comprises: the anti-collision frame 1 is provided with a hollowed-out frame structure; the mechanical arm module 2 comprises a mechanical arm 21 and a claw 22, one end of the mechanical arm 21 is fixedly arranged in the anti-collision frame 1, the other end of the mechanical arm 21 is provided with the claw 22 and is movably arranged outside the anti-collision frame 1, and the claw 22 performs opening and closing movements for clamping and fixing an obstacle; the cutting module 3 comprises a first hydraulic transmission mechanism 31 and a cutting piece 32, wherein one end of the first hydraulic transmission mechanism 31 is fixedly arranged on the top surface of the mechanical arm module 2, the other end of the first hydraulic transmission mechanism 31 is movably arranged outside the anti-collision frame 1, the movable end of the first hydraulic transmission mechanism 31 is provided with the cutting piece 32 along the vertical direction, and the cutting piece 32 is used for cutting obstacles in a rotary motion.
The underwater obstacle-breaking device provided by the utility model can be installed on the underwater robot platform 01 for use, and can be freely assembled and disassembled according to the working requirement when being used as a part of the operation of the underwater robot. In addition, the underwater obstacle breaking device can detach the cutting module 3 and then independently use the mechanical arm module 2 to operate through the underwater robot. Taking the underwater obstacle breaking device provided by the utility model as an example, the mechanical arm 21 can be a triaxial mechanical arm, the maximum opening diameter of the clamping jaw 22 is 160mm, the diameter of the cutting blade 32 is 150mm, the cutting power is 800w, and the maximum cutting diameter is 40mm.
The underwater obstacle breaking task is jointly completed through the cooperation of the mechanical arm module 2 and the cutting module 3, the clamping jaw 22 is arranged at the tail end of the mechanical arm 21, the mechanical arm 21 can complete telescopic and rotary motion, the clamping jaw 22 can complete opening and closing motion, the cutting module 3 is arranged above the mechanical arm module 2 and can synchronously move along with the mechanical arm 21, the cutting blade 32 is arranged at the tail end of the first hydraulic transmission mechanism 31, the first hydraulic transmission mechanism 31 can complete telescopic motion, and the cutting blade 32 can complete rotary motion. The mechanical arm module 2 can adjust the cutting speed according to the hardness and diameter of the obstacle, so that the cutting accuracy is high, and damage to the cutting blade 32 is reduced.
The action of the underwater obstacle breaking device is remotely controlled by a water surface control platform, the underwater robot platform 01 moves to an operation site, when encountering obstacles such as cables, the mechanical arm 21 is adjusted to rotate and stretch out and draw back according to the positions of the cables in water, the mechanical arm 21 drives the clamping jaws 22 to move to a proper position, the clamping jaws 22 clamp and fix the cables in a closed mode, the cutting blades 32 cut the cables, and the first hydraulic transmission mechanism 31 drives the cutting blades 32 to uniformly move according to a certain speed until cutting is completed.
The anticollision frame 1 is inside all located to the one end of arm module 2 and cutting module 3, and anticollision frame 1 can avoid arm module 2 and cutting module 3 to receive the striking in the aquatic like this to and prevent to bump hard object by mistake because of the operation instrument and lead to the damage. In addition, the anti-collision frame 1 is of a hollow structure, so that the weight of the anti-collision frame can be reduced, and the energy consumption can be further reduced.
The front end bearing, the rear end bearing and the rotating bearing of the hydraulic cylinder of the mechanical arm 21 are respectively internally provided with the split retainer rings, the split retainer rings can respectively limit the mechanical arm 21 to extend forwards to the farthest position and then stop, limit the mechanical arm 21 to shrink to the innermost position and then stop, prevent the mechanical arm 21 from being damaged due to overlarge stress, limit the rotating bearing to move to a proper position, and avoid damage to the bearing caused by the fact that the range is exceeded. And copper sleeves are arranged in the shaft rotating bearing of the mechanical arm 21 and the rotating bearing of the claw 22, and the copper sleeves are in direct contact with the shaft when the mechanical arm 21 rotates and stretches, so that the effects of reducing friction, transmitting thrust and supporting and fixing can be achieved.
The underwater obstacle breaking device further comprises a watertight cabin 4, and the outer wall of the watertight cabin 4 is fixedly connected with the inner wall of the anti-collision frame 1. The watertight compartment 4 is made of a high polymer material, and the high polymer material has the advantages of high strength, corrosion resistance and light weight, and can prevent water from entering the compartment underwater.
The robot arm module 2 further comprises a second hydraulic transmission mechanism 23 for driving the robot arm 21 to perform a rotation, a telescopic movement and for driving the claw 22 to perform an opening and closing movement.
One end of the second hydraulic transmission mechanism 23 is fixed on the mechanical arm 21 and fixed on the bottom surface of the watertight compartment 4, and the other end of the second hydraulic transmission mechanism 23 is connected with the mechanical arm 21. The second hydraulic transmission mechanism 23 may include a hydraulic cylinder that can realize a horizontal telescopic motion and a hydraulic motor that can realize a rotational motion.
The watertight compartment 4 is provided with a hydraulic control mechanism 41, and the hydraulic control mechanism 41 is used for controlling and driving the first hydraulic transmission mechanism 31 and the second hydraulic transmission mechanism 23.
The hydraulic control mechanism 41 may include a valve, a motor, etc., and may control the on-off of the liquid in the first hydraulic transmission mechanism 31 and the second hydraulic transmission mechanism 23 and the flow rate of the liquid through the valve, so as to control the telescopic and rotary movement of the mechanical arm 21, the closing and opening movement of the claw 22, and the telescopic movement of the cutting blade 32.
An electric appliance cabin 42 is arranged in the watertight cabin 4, and a circuit board is arranged in the electric appliance cabin 42 and used for controlling the hydraulic control mechanism 41.
Electronic components such as circuit board, chip are equipped with in the electrical apparatus cabin 42, can improve circuit control hydraulic control mechanism 41, in order to prevent that the outside from intaking and leading to electronic components to damage, electrical apparatus cabin 42 is airtight, and has waterproof function, and each components and parts all carry out watertight processing with external connection interface simultaneously.
The two ends of the hydraulic control mechanism 41 and the electric appliance cabin 42 are respectively sleeved with a throat hoop 5, and the throat hoops 5 are fixedly connected to the bottom surface of the watertight cabin 4.
The hose clamp 5 is sleeved at two ends of the outer walls of the electric appliance cabin 42 and the hydraulic control mechanism 41 respectively, the electric appliance cabin 42 and the hydraulic control mechanism 41 can be fixed on the bottom surface of the watertight cabin 4, and the hose clamp 5 can be used for adjusting tightness and tightness, so that the electric appliance cabin 42 and the hydraulic control mechanism 41 can be conveniently detached during maintenance.
The watertight compartment 4 is internally provided with a six-way valve 43, and the six-way valve 43 is provided with an interface connected with the underwater robot platform 01.
The six-way valve 43 is an assembly of six ways of interfaces for carrying out power transmission, control and information exchange between the underwater obstacle breaking device and the underwater robot platform 01, and the six ways of interfaces are respectively an interface of an electric appliance cabin 4 of the underwater obstacle breaking device and an interface of the hydraulic control mechanism 41, a working control line interface of the cutting blade 32, a working control line interface of the mechanical arm 21, a fault information feedback interface of the cutting module 3 and a fault feedback interface of the mechanical arm module 2. The six-way interfaces are respectively and independently led out of a path of cable to be connected with corresponding elements in the watertight cabin 4, the six-way interfaces are integrated into one path of interfaces corresponding to the underwater robot in the six-way valve 43 to be connected, the control operation of the underwater machine platform 01 on the underwater barrier breaking device is realized, various interfaces of the six-way valve 43 are watertight treated, and the faults caused by water inflow are prevented.
The top surface of the watertight compartment 4 is provided with buoyancy material. The buoyancy material can be specifically glass beads, so that the buoyancy of the watertight compartment 4 can be increased, the weight of the whole underwater barrier breaking device is balanced, and when the underwater barrier breaking device is combined with the underwater robot platform 01 for operation, the load of the underwater robot platform 01 can be reduced, and the energy consumption is reduced.
A clamping block 6 is arranged between the top surface of the mechanical arm module 2 and the bottom surface of the cutting module 3. One end of the clamping block 6 can be fixedly connected to the top surface of the mechanical arm 21 through a fastener 7, the other end of the clamping block 6 clamps and fixes the cutting module 3, and the clamping block 6 can be detached, so that the cutting module 3 can be detached conveniently.
The anti-collision frame 1 comprises a side plate 11 and a bottom plate 12, wherein the side plate 11 is provided with two sides which are respectively arranged on the bottom plate 12 along the vertical direction. The side plates 11 and the bottom plate 12 can be made of high polymer materials, so that the anti-collision frame 1 has the advantages of high strength, corrosion resistance and light weight. The two side plates 11 are provided with fastening pieces 7, and can fixedly connect the anti-collision frame 1 with the watertight compartment 4.
It should be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The underwater obstacle-breaking device provided by the utility model is described in detail above. The principles and embodiments of the present utility model have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present utility model and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the utility model can be made without departing from the principles of the utility model and these modifications and adaptations are intended to be within the scope of the utility model as defined in the following claims.
Claims (10)
1. An underwater obstacle breaking device, characterized in that it is provided on an underwater robot platform (01), comprising:
the anti-collision frame (1) is of a hollowed-out frame structure;
the mechanical arm module (2) comprises a mechanical arm (21) and a claw (22), one end of the mechanical arm (21) is fixedly arranged in the anti-collision frame (1), the other end of the mechanical arm (21) is provided with the claw (22) and is movably arranged outside the anti-collision frame (1), and the claw (22) performs opening and closing movements and is used for clamping and fixing an obstacle;
the cutting module (3) comprises a first hydraulic transmission mechanism (31) and a cutting piece (32), wherein one end of the first hydraulic transmission mechanism (31) is fixedly arranged on the top surface of the mechanical arm module (2), the other end of the first hydraulic transmission mechanism (31) is movably arranged outside the anti-collision frame (1), the movable end of the first hydraulic transmission mechanism (31) is provided with the cutting piece (32) along the vertical direction, and the cutting piece (32) is used for cutting obstacles in a rotary motion.
2. The underwater obstacle-breaking device as claimed in claim 1, characterized in that the mechanical arm module (2) further comprises a second hydraulic transmission mechanism (23) for driving the mechanical arm (21) to perform a rotation, a telescopic movement and for driving the jaws (22) to perform an opening and closing movement.
3. The underwater obstacle-breaking device as claimed in claim 2, further comprising a watertight compartment (4), the outer wall of the watertight compartment (4) being fixedly connected with the inner wall of the anti-collision frame (1).
4. An underwater obstacle-breaking device as claimed in claim 3, characterized in that a hydraulic control mechanism (41) is provided in the watertight compartment (4), the hydraulic control mechanism (41) being adapted to control the driving of the first hydraulic transmission mechanism (31) and the second hydraulic transmission mechanism (23).
5. The underwater obstacle-breaking device as claimed in claim 4, characterized in that an electrical bin (42) is arranged in the watertight compartment (4), and a circuit board is arranged in the electrical bin (42) for controlling the hydraulic control mechanism (41).
6. The underwater obstacle breaking device according to claim 5, wherein the hydraulic control mechanism (41) and the electric appliance bin (42) are respectively sleeved with a throat hoop (5), and the throat hoops (5) are fixedly connected to the bottom surface of the watertight bin (4).
7. An underwater obstacle-breaking device as claimed in claim 3, characterized in that a six-way valve (43) is provided in the watertight compartment (4), the six-way valve (43) being provided with an interface for connection with the underwater robot platform (01).
8. An underwater obstacle-breaking device as claimed in claim 3, characterized in that the top surface of the watertight compartment (4) is provided with a buoyancy material.
9. The underwater obstacle-breaking device as claimed in claim 1, characterized in that a clamping block (6) is arranged between the top surface of the mechanical arm module (2) and the bottom surface of the cutting module (3).
10. The underwater obstacle-breaking device as claimed in claim 1, characterized in that the anti-collision frame (1) comprises a side plate (11) and a bottom plate (12), the side plate (11) is provided with two blocks which are respectively arranged on two sides of the bottom plate (12) along the vertical direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320417648.3U CN219648594U (en) | 2023-03-02 | 2023-03-02 | Underwater obstacle breaking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320417648.3U CN219648594U (en) | 2023-03-02 | 2023-03-02 | Underwater obstacle breaking device |
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| Publication Number | Publication Date |
|---|---|
| CN219648594U true CN219648594U (en) | 2023-09-08 |
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ID=87860768
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320417648.3U Active CN219648594U (en) | 2023-03-02 | 2023-03-02 | Underwater obstacle breaking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219648594U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118295440A (en) * | 2024-04-11 | 2024-07-05 | 航天科工空天动力研究院(苏州)有限责任公司 | Novel unmanned barrier system that breaks under water |
-
2023
- 2023-03-02 CN CN202320417648.3U patent/CN219648594U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118295440A (en) * | 2024-04-11 | 2024-07-05 | 航天科工空天动力研究院(苏州)有限责任公司 | Novel unmanned barrier system that breaks under water |
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Effective date of registration: 20231027 Address after: No. 426 Haibin Road, Changdao County, Yantai City, Shandong Province, 265800 Patentee after: Qi Wanjiang Address before: 262700 Sun Jia Ji Jie Dao Yue Si Han Cun, Shouguang City, Weifang City, Shandong Province Patentee before: Shouguang Zhengrun Machinery Co.,Ltd. |