CN221623926U - Underwater device for survey cutting - Google Patents
Underwater device for survey cutting Download PDFInfo
- Publication number
- CN221623926U CN221623926U CN202420462824.XU CN202420462824U CN221623926U CN 221623926 U CN221623926 U CN 221623926U CN 202420462824 U CN202420462824 U CN 202420462824U CN 221623926 U CN221623926 U CN 221623926U
- Authority
- CN
- China
- Prior art keywords
- cutting
- frame
- cabin
- pressure
- underwater
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005520 cutting process Methods 0.000 title claims abstract description 96
- 238000010008 shearing Methods 0.000 claims abstract description 9
- 238000007667 floating Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 abstract description 4
- 239000013049 sediment Substances 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 17
- 230000033001 locomotion Effects 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005286 illumination Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000013535 sea water Substances 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses an underwater device for survey cutting, belongs to the field of underwater equipment, and solves the problems that in the prior art, underwater cutting and cleaning depend on manual or large-scale cutting and cleaning machines, and the risks are high and the machines are inconvenient to carry. In the utility model, the cutting device comprises a scissor type cutting hand, wherein the cutting hand is provided with an opening and closing shearing part and a fixed end, and the fixed end of the cutting hand is fixed at the lower part of the frame; a pressure-resistant power supply cabin and a drive control cabin are arranged in the internal cavity of the frame; the opening and closing shearing part of the cutting hand is electrically connected with the pressure-resistant power supply cabin and the driving control cabin through a connecting cable. The underwater device for survey cutting can explore the underwater environment, can cut and salvage underwater sediments, is convenient to carry and is simple to operate.
Description
Technical Field
The utility model relates to an underwater device for survey cutting, and belongs to the field of underwater equipment.
Background
In the prior art, underwater rescue is generally performed manually, because of uncertainty of water flow and sea area, the risk is high, the rescue difficulty is high, and the robot is provided with a camera and a cutting hand and has strong stretching force, so that the position can be surveyed and rescued. The underwater cutting and cleaning is generally performed by manual or large-scale cutting and cleaning machines, and has the defects of higher risk, inconvenient carrying of the machines and incapability of passing in most scenes due to overlarge volume.
Disclosure of utility model
The utility model provides an underwater device for survey cutting, which not only can explore the underwater environment, but also can cut and salvage underwater sediments, is convenient to carry and is simple to operate.
The utility model adopts the technical scheme that the underwater device for survey cutting comprises a frame, wherein an inner cavity is formed in the frame; a movable propulsion device and an environment sensing device are arranged in the internal cavity of the frame; the lower part of the frame is provided with a cutting device;
The cutting device comprises a scissor type cutting hand, the cutting hand is provided with an opening and closing shearing part and a fixed end, and the fixed end of the cutting hand is fixed at the lower part of the frame;
A pressure-resistant power supply cabin and a drive control cabin are arranged in the internal cavity of the frame; the opening and closing shearing part of the cutting hand is electrically connected with the pressure-resistant power supply cabin and the driving control cabin through a connecting cable.
Preferably, the above underwater device for survey cutting, the frame comprises an upper frame, a lower frame, a left side frame and a right side frame;
The inner cavity of the frame is surrounded by an upper frame, a lower frame, a left side frame and a right side frame;
The upper frame is arranged above the lower frame and is arranged at intervals with the lower frame, the left side frame and the right side frame are respectively arranged on two sides of the lower frame, and the side frames are fixed with the upper frame and the lower frame through bolts.
Preferably, the underwater device for survey cutting has a floating block on an upper frame; the upper end of the pressure-resistant power supply cabin is provided with a connecting column, and the pressure-resistant power supply cabin is fixed with the upper frame through the connecting column.
Preferably, the underwater device for survey cutting comprises a vertical propeller and a horizontal propeller;
The two horizontal propellers are respectively arranged at two sides of the pressure-resistant power supply cabin; the power end of the horizontal propeller is electrically connected with the power end of the pressure-resistant power cabin, and the control end of the horizontal propeller is electrically connected with the control output end of the drive control cabin;
The vertical propeller is arranged on the upper frame and penetrates through the upper frame, the power end of the vertical propeller is electrically connected with the power end of the pressure-resistant power supply cabin, and the control end of the vertical propeller is electrically connected with the control output end of the drive control cabin.
Preferably, the underwater device for survey and cutting comprises a high-definition camera and two illumination lamps;
The high-definition camera is arranged at the front end of the upper frame, and the two illuminating lamps are respectively arranged at two sides of the high-definition camera;
The control end of the high-definition camera and the lighting lamp is electrically connected with the control output end of the drive control cabin, and the power end of the high-definition camera and the lighting lamp is electrically connected with the power end of the pressure-resistant power cabin.
Preferably, the underwater device for surveying and cutting further comprises a sonar sensor, a temperature sensor, a pressure sensor and a positioning sensor;
The sonar sensor and the temperature sensor are respectively arranged at two sides of the front end of the lower frame, and the pressure sensor and the positioning sensor are arranged in the internal cavity of the frame;
The control end of the sonar sensor, the temperature sensor, the pressure sensor and the positioning sensor is electrically connected with the control output end of the drive control cabin, and the power end of the sonar sensor, the temperature sensor, the pressure sensor and the positioning sensor is electrically connected with the power end of the pressure-resistant power cabin.
The application has the advantages that: the existing underwater cutting technology is that the cutting machine is needed to be carried by an artificial diving suit, the cutting range of the cutting in the water is smaller, the preparation time is longer, the inaccuracy of manual underwater cutting can be solved by the surveying and cutting underwater robot, certain dangers are avoided, the cutting can be safely polished, underwater rescue and surveying are carried out, and the control personnel only need to remotely control, so that the safety is greatly improved, and the accuracy is high.
The technical scheme of the application is designed for underwater surveying and underwater cutting, has the advantages of simple operation, convenient movement and capability of executing cutting operation at a plurality of angles. By using the latest various sensor technologies, not only can the cutting function be realized, but also the functions of locating exploration resources and the like can be realized, and the long-time surveying and cutting work can be ensured by being provided with a large-capacity power supply. Because the device is provided with the advanced underwater cable, the low delay and communication requirements are met, and errors are prevented during operation. The device is provided with 2 horizontal propellers as propulsion force during movement, two vertical propellers up and down, and propulsion force during up and down movement. The cutting hand is closed and opened underwater through a common power supply and a simple and reasonable transmission structure, so that the cutting hand is ensured to have enough clamping force and stability underwater.
The four sensors provided by the application, the sonar sensor can determine the distance and the direction between the sonar sensor and the target object by measuring the propagation time and the intensity of sound waves in water, so that underwater navigation and navigation are realized. The temperature sensor can measure specific temperatures in different environments and can study marine ecological problems. The pressure sensor can be used for measuring the water pressure of different depths in the ocean, so that the problems in aspects of physics, chemistry, biology and the like of the ocean are studied, and the positioning sensor can test and accurately position the cutting position or the surveying position.
Drawings
FIG. 1 is a schematic diagram of the structure of the present application;
FIG. 2 is a side view of an underwater apparatus for survey cutting of the present application;
FIG. 3 is a front view of an underwater apparatus for survey cutting of the present application;
FIG. 4 is a top view of the underwater apparatus for survey cutting of the present application;
FIG. 5 is a schematic illustration of the drive control and power pod of the present application;
FIG. 6 is a schematic diagram of a background industrial personal computer according to the present application;
FIG. 7 is a schematic diagram of the present application during operation;
FIG. 8 is a block diagram of the present application with the cutting hand open;
fig. 9 is a structural view of the cutting hand of the present application when closed.
Detailed Description
The technical features of the present utility model are further described below with reference to the accompanying drawings and the specific embodiments.
As shown in the figure, the utility model relates to an underwater device for survey and cutting, which comprises an upper frame 1, a left side frame 2, an illuminating lamp 3, a high-definition camera 4, a vertical propeller 5, a sonar sensor 6, a lower frame 7, a cutting hand 8, a connecting cable 9, a temperature sensor 10, a pressure sensor 11, a right side frame 12, a positioning sensor 13, a connecting column 14, a pressure-resistant power supply bin 15, a driving control cabin 16, a horizontal propeller 17, a cable interface 18, a floating block 19 and a screw hole 20.
The main body of the underwater device for survey cutting adopts an open structure frame, the size of the main body is 550 x 400 x 320mm, the maximum working depth can reach 300 meters, the maximum navigational speed is not lower than 3 knots in seawater, the loading capacity reaches 20kg, and the frame comprises an upper frame 1 positioned above and a lower frame 7 positioned below, and left side frames 2 and right side frames 12 positioned on the left side and the right side.
The floating blocks 19 are fixedly arranged on the top plate through bolts, the buoyancy material of the floating blocks 19 can be 0.38g/cm < 3 > density, the appearance of the buoyancy material can be used for balancing weight and increasing buoyancy, and the outer surface of the buoyancy material can be sprayed with colors. The underwater device realizes underwater operation without manual water running, the underwater device is driven to float in water body by using the buoyancy material, the buoyancy of the underwater device is controlled by controlling the adding amount of the buoyancy material in the upper frame 1, and the power supply is used for providing electric quantity for the control processor, so that stable and continuous operation of the underwater device is realized.
The upper frame 1 is located above the lower frame 7 and is arranged at intervals from the lower frame 7, the left side frame 2 and the right side frame 12 are respectively located at two sides of the lower frame 7, and the side frames 2 are fixed with the upper frame 1 and the lower frame 7 through bolts 20.
The cutting hand 8 has an opening and closing shearing portion and a fixed end, and the fixed end of the cutting hand 8 is fixed to the lower portion of the frame.
The cutting hand 8 is installed at the lower end of the lower frame 7, and the cutting hand 8 is connected with the driving control cabin 16. The device carries the cutting hand 8, the weight of the machine body is 10kg, the holding force is 120N, the waterproof depth is 300 meters, and the position and the speed can be controlled. The cutting hand 8 is made of stainless steel, the weight of the cutting hand 8 under water is 1500g, and the opening and closing distance is 1200m. The application uses the cutting hand 8 to carry out underwater operation, and can grasp samples or develop the advance of the road survey cutting robot.
The pressure-resistant power supply cabin 15 and the drive control cabin 16 are arranged in the internal cavity of the frame, and the opening and closing shearing part of the cutting hand 8 is electrically connected with the pressure-resistant power supply cabin 15 and the drive control cabin 16 through the connecting cable 9. The upper end of the pressure-resistant power supply cabin 15 is provided with a connecting column 14, and the pressure-resistant power supply cabin 15 is fixed with the upper frame 1 through the connecting column 14.
The cutting hand 8 is provided with a first blade 801, a second blade 802, a connecting rod 803, a push rod 804 and a deep water motor 806, when the cutting hand 8 works, the deep water motor 806 is started, and when the deep water motor 806 rotates positively and negatively, the push rod 8044 is driven to move forwards and backwards, so that the connecting rod 8033 pushes the first blade 801 and the second blade 802 to perform opening and meshing movement, and therefore shearing operation is achieved.
The number of the horizontal thrusters 17 is two, the two horizontal thrusters 17 are respectively arranged on two sides of the pressure-resistant power supply cabin 15, the power supply end of the horizontal thrusters 17 is electrically connected with the power supply end of the pressure-resistant power supply cabin 15, and the control end of the horizontal thrusters 17 is electrically connected with the control output end of the drive control cabin 16.
The vertical thruster 5 is mounted on the upper frame 1 and penetrates the upper frame 1, a power end of the vertical thruster 5 is electrically connected with a power end of the pressure-resistant power supply compartment 15, and a control end of the vertical thruster 5 is electrically connected with a control output end of the drive control compartment 16.
The total forward thrust of the horizontal propeller 17 is about 900N, and the total vertical thrust of the vertical propeller 5 is 700N. The horizontal thrusters 17 are respectively fixed at two sides of the pressure-resistant power supply cabin, and the vertical thrusters 5 are fixed with the upper frame 1 through bolts. The device utilizes the vertical propeller to provide the driving force for the exploration and cutting underwater robot in the vertical direction, and utilizes the horizontal propeller to provide the driving force for the exploration seven underwater robots in the horizontal direction. The moving force and the flexibility of the survey cutting underwater robot are improved.
The two high-definition cameras 4 are respectively arranged at the front end and the rear end of the upper frame 1, and the two illuminating lamps 3 are respectively arranged at the two sides of the high-definition cameras 4; the control ends of the high-definition camera 4 and the illuminating lamp 3 are electrically connected with the control output end of the drive control cabin 16, and the power ends of the high-definition camera 4 and the illuminating lamp 3 are electrically connected with the power end of the pressure-resistant power cabin 15.
The high definition camera 4 is installed at the front and rear ends of the upper frame 1. 2 underwater high-definition cameras; the front and rear cameras are respectively provided with a 200-ten-thousand-pixel low-illumination optical fixed Jiao Gaoqing digital camera, the resolution is 1920 multiplied by 1080, the front camera adopts a wide-angle lens, the wide-angle range is 110 degrees, HDMI high-definition transmission is supported, the image processing is matched for obtaining underwater image data in real time, the image is clear and fine, the rear camera is a fixed optical fixed focus lens, and the front and rear lens displays can be amplified and switched at will. The front main camera cradle head can vertically move by +/-75 degrees.
The control ends of the sonar sensor 6, the temperature sensor 10, the pressure sensor 11 and the positioning sensor 13 are electrically connected with the control output end of the drive control cabin 16, and the power ends of the sonar sensor 6, the temperature sensor 10, the pressure sensor 11 and the positioning sensor 13 are electrically connected with the power end of the pressure-resistant power cabin 15
The sonar sensor 6, the temperature sensor 10, the pressure sensor 11 and the positioning sensor 13 are all fixed sealed cabins, so that the protection of the sensor is realized, and the stable operation of the whole device is ensured.
The sonar sensor 6 and the positioning sensor 13 are respectively arranged at the joint of the right side frame 2 and the lower frame 7, the temperature sensor 10 and the pressure sensor 11 are respectively arranged at the joint of the left side frame 12 and the lower frame 7, and the sensor is provided with a power supply and is connected with a drive control cabin. The device can utilize the pressure sensor to detect the pressure of the current degree of depth in the water, monitors the state of surveying the cutting underwater robot in real time, and temperature sensor can detect current environment real-time temperature, and sonar sensor can detect the distance, and the location sensor can be guaranteed to all can be found when surveying the position of cutting robot, is favorable to improving the steady operation ability of surveying the cutting underwater robot.
In the application, a background industrial personal computer can be further arranged, and as shown in fig. 3, the background industrial personal computer part comprises an industrial personal computer, a display screen, a control handle and a data circuit board. The display screen displays the received video data, state data and alarm data; the control handle is used for controlling the underwater operation of the survey cutting robot to sit on the moon, and the data circuit board is used for controlling the whole system to stably run.
The scheme of the application selects the photoelectric composite cable, and uses a multi-megaoptical transceiver as a photoelectric conversion medium for interaction on shore and under water. At the shore end, command data of a background controller are converted into optical signals through a photoelectric converter and transmitted to the robot end through a cable; and a large amount of video data, sonar data, internal parameters of the robot and the like at the robot end are transmitted to the shore through a cable through a photoelectric converter, and finally displayed by a background controller.
Survey cutting robot workflow steps:
The background controller can be connected with the pressure-resistant power supply cabin and the driving circuit board of the survey and cutting underwater robot when in use on the ship, and the operating system on the ship is opened to be connected with the connecting port on the control handle of the survey and cutting underwater robot. And testing whether each function of the survey and cutting robot is normal and whether the function of the survey and cutting robot is controlled, for example, the working condition of 4 propellers, the working condition of 5 mechanical arms, the working condition of light sources and the like, and testing the communication condition of the survey and cutting underwater robot, including whether video transmission of a high-definition camera, sonar data transmission, cabin internal monitoring data and the like are normal. Hoisting and laying of the survey cutting underwater robot are carried out. The lifting hook and the lifting belt are bound on the surveying and cutting robot, and the deployment can be realized by controlling the deployment winch. The operation platform is used for remotely controlling the survey and cutting underwater robot, and can be used for moving forward, backward, left turning, right turning, left traversing, right traversing and the like, the sonar sensor and the high-definition camera are used for detecting a target object, and the background controller operation platform can be used for recording underwater videos shot by the underwater high-definition camera. By manipulating the underwater robot 8, a work task of gripping or assisting work can be performed on the target object. After the operation task is completed, the power supply of the surveying and cutting robot is disconnected, the surveying and cutting robot is hoisted and recovered by utilizing a winch, the robot is soaked in a clean water tank for a plurality of hours, and then the robot is washed by clean water, so that the corrosion of seawater to important parts such as a propeller and the like is prevented.
Sensor working sequence:
the forward and backward rotation of the underwater propeller can be realized through the background controller on the ship, so that the surveying and cutting underwater robot can make a corresponding motion gesture, and the IMU chip can receive the instruction and send the instruction to the underwater propeller; meanwhile, the IMU chip can also send instructions to the underwater illumination lamp 3 to control the on/off of the underwater illumination lamp 3, brightness adjustment and the like. In the working process of the survey cutting underwater robot, the temperature sensor 10 and the pressure sensor 11 keep working states all the time, the condition of the range environment is detected at all times, and the operating interface of the water background controller is displayed by visual data. When the surveying and cutting robot enters a working state, the pressure sensor starts working, the water pressure outside the surveying and cutting underwater robot is detected, and the water pressure data are uploaded to the background controller in real time. When the survey cutting underwater robot starts a depth keeping mode, the IMU chip can control the underwater propeller in the vertical direction of the robot through real-time data fed back by the pressure sensor, and the robot realizes self-adjustment of the motion direction, so that the robot can be stabilized at the current depth and is not interfered by sea waves. The horizontal underwater propeller of the robot is controlled and the angle is regulated, and the robot realizes a self-regulating state of the motion angle, so that the robot can be stabilized in the current course and is not interfered by sea waves. Other sensors are the same, and the available models in the prior art are numerous, and a person skilled in the art can choose the sensors according to actual requirements, and the sensors are not exemplified in the embodiment.
It should be understood that the above description is not intended to limit the utility model to the particular embodiments disclosed, but to limit the utility model to the particular embodiments disclosed, and that various changes, modifications, additions and substitutions can be made by those skilled in the art without departing from the spirit and scope of the utility model.
Claims (6)
1. An underwater device for survey cutting includes a frame having an interior cavity therein; a movable propulsion device and an environment sensing device are arranged in the internal cavity of the frame; the lower part of the frame is provided with a cutting device; the method is characterized in that:
The cutting device comprises a scissor type cutting hand (8), wherein the cutting hand (8) is provided with an opening and closing shearing part and a fixed end, and the fixed end of the cutting hand (8) is fixed at the lower part of the frame;
A pressure-resistant power supply cabin (15) and a drive control cabin (16) are arranged in the inner cavity of the frame; the opening and closing shearing part of the cutting hand (8) is electrically connected with the pressure-resistant power supply cabin (15) and the driving control cabin (16) through the connecting cable (9).
2. An underwater apparatus for survey cutting as claimed in claim 1, wherein: the frame comprises an upper frame (1), a lower frame (7), a left side frame (2) and a right side frame (12);
The inner cavity of the frame is surrounded by an upper frame (1), a lower frame (7), a left side frame (2) and a right side frame (12);
The upper frame (1) is arranged above the lower frame (7) and is arranged at intervals with the lower frame (7), the left side frame (2) and the right side frame (12) are respectively arranged on two sides of the lower frame (7), and the side frames (2) are fixed with the upper frame (1) and the lower frame (7) through bolts (20).
3. An underwater apparatus for survey cutting as claimed in claim 2, wherein: the upper frame (1) is provided with a floating block (19); the upper end of the pressure-resistant power supply cabin (15) is provided with a connecting column (14), and the pressure-resistant power supply cabin (15) is fixed with the upper frame (1) through the connecting column (14).
4. An underwater apparatus for survey cutting as claimed in claim 2, wherein: the mobile propulsion device comprises a vertical propeller (5) and a horizontal propeller (17);
The number of the horizontal thrusters (17) is two, and the two horizontal thrusters (17) are respectively arranged at two sides of the pressure-resistant power supply cabin (15); the power end of the horizontal propeller (17) is electrically connected with the power end of the pressure-resistant power cabin (15), and the control end of the horizontal propeller (17) is electrically connected with the control output end of the drive control cabin (16);
The vertical propeller (5) is arranged on the upper frame (1) and penetrates through the upper frame (1), the power end of the vertical propeller (5) is electrically connected with the power end of the pressure-resistant power supply cabin (15), and the control end of the vertical propeller (5) is electrically connected with the control output end of the drive control cabin (16).
5. An underwater apparatus for survey cutting as claimed in claim 2, wherein: the environment sensing device comprises a high-definition camera (4) and two illuminating lamps (3);
The high-definition camera (4) is arranged at the front end of the upper frame (1), and the two illuminating lamps (3) are respectively arranged at two sides of the high-definition camera (4);
The control end of the high-definition camera (4) and the control end of the illuminating lamp (3) are electrically connected with the control output end of the drive control cabin (16), and the power end of the high-definition camera (4) and the power end of the illuminating lamp (3) are electrically connected with the power end of the pressure-resistant power cabin (15).
6. An underwater apparatus for survey cutting as claimed in claim 2, wherein: the environment sensing device also comprises a sonar sensor (6), a temperature sensor (10), a pressure sensor (11) and a positioning sensor (13);
The sonar sensor (6) and the temperature sensor (10) are respectively arranged at two sides of the front end of the lower frame (7), and the pressure sensor (11) and the positioning sensor (13) are arranged in the internal cavity of the frame;
The control ends of the sonar sensor (6), the temperature sensor (10), the pressure sensor (11) and the positioning sensor (13) are electrically connected with the control output end of the drive control cabin (16), and the power ends of the sonar sensor (6), the temperature sensor (10), the pressure sensor (11) and the positioning sensor (13) are electrically connected with the power end of the pressure-resistant power cabin (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420462824.XU CN221623926U (en) | 2024-03-11 | 2024-03-11 | Underwater device for survey cutting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420462824.XU CN221623926U (en) | 2024-03-11 | 2024-03-11 | Underwater device for survey cutting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221623926U true CN221623926U (en) | 2024-08-30 |
Family
ID=92489673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202420462824.XU Active CN221623926U (en) | 2024-03-11 | 2024-03-11 | Underwater device for survey cutting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221623926U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220332003A1 (en) * | 2021-04-15 | 2022-10-20 | Worcester Polytechnic Institute | Salvage metal cutting robot |
-
2024
- 2024-03-11 CN CN202420462824.XU patent/CN221623926U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220332003A1 (en) * | 2021-04-15 | 2022-10-20 | Worcester Polytechnic Institute | Salvage metal cutting robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203601547U (en) | Underwater robot | |
| CN203786566U (en) | Submarine cable maintenance underwater robot system | |
| CN106809358B (en) | Nuclear power station cooling water diversion culvert detects robot system and implementation | |
| CN204568029U (en) | One is unmanned cable man-controlled mobile robot under water | |
| WO2017140096A1 (en) | Unmanned ship and system | |
| CN102951275A (en) | Microminiature operation underwater robot of nuclear power plant | |
| CN107878670B (en) | Solar energy double-body unmanned ship for remote seawater sampling of small-radius box-type connecting bridge | |
| CN104527952B (en) | Minitype autonomous underwater vehicle | |
| CN221623926U (en) | Underwater device for survey cutting | |
| CN108375625B (en) | Jacket corrosion detection equipment without magnetic field interference and corrosion detection method | |
| RU130292U1 (en) | COMPLEX OF CONTROLLED UNABILITATED UNDERWATER UNIT | |
| RU173254U1 (en) | Robotic swimming facility for research and underwater operations | |
| CN111239746A (en) | Dam crack detection underwater robot and using method thereof | |
| CN110606174A (en) | Robot device for underwater observation and salvage rescue | |
| CN112478108A (en) | Method for removing submarine cable obstacles by submarine cable robot | |
| CN112362093A (en) | Dam detection robot, detection system and detection method | |
| CN105752301A (en) | Self-inclination submersing device | |
| CN213768181U (en) | Crawler-type ROV suitable for various working conditions | |
| KR101467887B1 (en) | Combined remotely operated vehicle and power supplying method of remotely operrated vehicle | |
| CN107839859A (en) | A kind of submarine optical fiber cable inspection submarine navigation device and method for inspecting | |
| RU2468960C1 (en) | All-purpose self-propelled submersible system for inspection and repair of waterworks | |
| CN109436255A (en) | A kind of underwater long range tunnel detection robot | |
| CN209382234U (en) | A kind of underwater long range tunnel detection robot | |
| CN211223801U (en) | Robot device for underwater observation and salvage rescue | |
| CN110220740B (en) | Deep sea sampling method based on mobile deep sea sampling drilling machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |