CN104149949B - Robot for fetching underwater object - Google Patents
Robot for fetching underwater object Download PDFInfo
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- CN104149949B CN104149949B CN201410398417.8A CN201410398417A CN104149949B CN 104149949 B CN104149949 B CN 104149949B CN 201410398417 A CN201410398417 A CN 201410398417A CN 104149949 B CN104149949 B CN 104149949B
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- trachea
- body construction
- robot
- under water
- connecting portion
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- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 210000003437 trachea Anatomy 0.000 claims description 70
- 238000010276 construction Methods 0.000 claims description 49
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 36
- 239000007787 solid Substances 0.000 claims description 9
- 230000008719 thickening Effects 0.000 claims description 3
- 210000000621 bronchi Anatomy 0.000 description 6
- 238000005273 aeration Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 230000001141 propulsive effect Effects 0.000 description 4
- 239000002775 capsule Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- MGCQZNBCJBRZDT-UHFFFAOYSA-N midodrine hydrochloride Chemical compound [H+].[Cl-].COC1=CC=C(OC)C(C(O)CNC(=O)CN)=C1 MGCQZNBCJBRZDT-UHFFFAOYSA-N 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Landscapes
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The invention provides a robot for fetching underwater objects. The robot includes a body structure, standing mechanisms, an air bag, a propulsion gas pipe, a steering gas pipe, a manipulator structure and an air pump on the shore. The two standing mechanisms are respectively arranged on the two ends of the body structure along the axial direction of the body structure; the air bag is arranged in the body structure; the gas inlets of the propulsion and steering gas pipes are connected with the air pump, and the gas outlets are connected to the outside of the body structure; the orientation of the gas outlet opening of the propulsion pipe parallels to the axial direction of the body structure; the orientation of the gas outlet opening of the steering pipe is arranged horizontally and perpendicular to the axial direction of the body structure; the manipulator structure is mounted on the body structure; and the air bag is connected with the air pump through the air bag pipe.
Description
Technical field
The present invention relates to undersea detection field, more particularly, to one kind Qu Wu robot under water.
Background technology
Existing underwater robot is generally used for professional field, deep-sea lake is prospected, therefore to security reliability
Have high demands, therefore complex structure, expensive, simultaneously because body weight is excessive, mobile inconvenient under water, simultaneously because purposes master
If detecting, therefore it is not suitable for finding salvaging object under water.Price prohibitively expensive it is impossible to enter daily field.
Content of the invention
The technical problem to be solved in the present invention be provide a kind of be applied under water find salvage object take thing machine under water
People.
In order to solve this technical problem, the invention provides one kind Qu Wu robot under water, including body construction, stand
Mechanism, air bag, propulsion trachea, steering trachea, robot manipulator structure, and located at air pump on the bank, two described standing mechanism edges
The axis direction of described body construction is respectively arranged on the two ends of described body construction, described air bag in described body construction,
The inlet end of described propulsion trachea and steering trachea is all connected with described air pump, and outlet side is connected to the outer of described body construction
Side, the axial direction being directed parallel to described body construction of the end opening of giving vent to anger of described propulsion trachea, the giving vent to anger of described steering trachea
The direction of end opening is horizontally arranged, and the axial direction perpendicular to described body construction, and described robot manipulator structure is installed on described
On body construction, described air bag is connected with described air pump by air bag trachea.
The connecting portion that described body construction includes main casing with the cylinder being fixed at described main casing two ends, two institutes
State the axis of connecting portion and the dead in line of described body construction, described standing mechanism is sheathed on outside described connecting portion, and around
The axial-rotation of described connecting portion.
It is provided with cannelure outside described connecting portion, described standing mechanism is fixed with axial fixing structure, described axial direction
Fixed structure is arranged in described cannelure.
Described connecting portion is provided with the through hole that air supply pipe passes through, and this through hole is axially arranged along described connecting portion, described master
The bottom of housing also is provided with the through hole that air supply pipe passes through, and described propulsion trachea and steering trachea pass through the through hole on described connecting portion
Enter in described main casing body, then the through hole through described main casing bottom connects to the outside of described main casing, described air bag trachea
Connect to described main casing body through the through hole on described connecting portion.
Described standing mechanism includes the runner shaft of a hollow and the blade being vertical at outside described runner shaft, described
Runner shaft is sheathed on the two ends of described body construction, and the dead in line of the axis of described runner shaft and described body construction.
The quantity of described blade is four, and four described blades are uniformly distributed in outside described runner shaft.
The adjacent described blade of two of which is solid, and the adjacent described blade of another two is hollow, and solid is described
The thickness of blade is along connecting one end of runner shaft to the direction of the other end by thin thickening.
Described robot manipulator structure includes pneumatic cylinder, piston rod, two magnets, two supports and two curved bars, described
Piston rod moves linearly along described pneumatic cylinder, and described pneumatic cylinder is connected with described air pump by pneumatic cylinder trachea, described in two
Support is fixedly connected with described body construction, and the shaft of two described curved bars is hinged with two described supports respectively, described in two
Curved bar is oppositely arranged, and the axis of rotation of two described curved bars is parallel, and two described magnets are respectively arranged on two described curved bars
One end, during closure state, the attracting closure of two described magnets, during open mode, by the rectilinear movement of described piston rod
Promote the other end of two described curved bars, and then make two described curved bar rotations, finally make two described magnets separately.
It is additionally provided with photographic head on described body construction.
It is additionally provided with display lamp on described body construction.
Underwater robot is put in water, air bag is not inflated, due to action of gravity, robot falls into the bottom, at this moment bank
Salvage person water-bed situation is observed by the photographic head that is arranged in robot.First give airbag aeration with air pump on the bank, make
Airbag aeration, but be not filled with, so that robot is suspended in water, afterwards to propulsion trachea inflation, form propulsive thrust in water, drive
Robot advances, and to controlling the steering trachea ventilating control direction of advance turning to, makes robot move to corresponding region.
After reaching the position observed, the gas in air bag is extracted out, so that robot is again fallen at the bottom, so real by robot manipulator structure
Now under water take thing.And then, present configuration is simple, and low cost of manufacture can be commonly used in life, facilitate the police to handle a case, and uses
Robot replaces manpower, protects the safety of staff.
Brief description
Fig. 1 is the structural representation of the robot of Qu Wu under water that one embodiment of the invention provides；
Fig. 2 is a structural representation of body construction in one embodiment of the invention；
Fig. 3 is another structural representation of body construction in one embodiment of the invention；
Fig. 4 is the structural representation of robot manipulator structure in one embodiment of the invention；
In figure, 1- body construction；11- main casing；12- connecting portion；13- cannelure；14th, 15- through hole；16- hollow region；
17- air bag region；18- forward block；19- steering block；2- standing mechanism；21- runner shaft；22nd, 23- blade；24- nail；3- machine
Tool handss structure；31- pneumatic cylinder；32- piston rod；33- magnet；34- curved bar；35- support；4- display lamp；5- photographic head.
Specific embodiment
It is described in detail below with reference to the robot of Qu Wu under water that Fig. 1 to Fig. 4 provides to the present invention, it is this
A bright optional embodiment it is believed that those skilled in the art do not change the present invention spirit and content in the range of can
It is modified and polishes.
Refer to Fig. 1, present embodiments provide one kind Qu Wu robot under water, including body construction 1, standing mechanism 2, gas
Capsule (not shown), propulsion trachea (not shown), steering trachea (not shown), robot manipulator structure 3, and located at air pump on the bank
(not shown), two described standing mechanisms 2 are respectively arranged on the two of described body construction 1 along the axis direction of described body construction 1
End, in described body construction 1, the inlet end of described propulsion trachea and steering trachea is all with described air pump even for described air bag
Connect, outlet side is connected to the outside of described body construction 1, being directed parallel to of the end opening of giving vent to anger of described propulsion trachea is described
The axial direction of body construction 1, the direction of the end opening of giving vent to anger of described steering trachea is horizontally arranged, and perpendicular to described bulk junction
The axial direction of structure 1, described robot manipulator structure 3 is installed on described body construction 1, and described air bag passes through air bag trachea and described air pump
Connect.
Also can be provided with outside body construction 1 and wash away trachea (not shown), for the silt at flush water bottom, described wash away trachea
It is connected with described air pump.Wash away trachea, propulsion trachea, turn to trachea, air pump trachea is additionally provided with switch valve is controlled further
System.
Underwater robot is put in water, air bag is not inflated, due to action of gravity, robot falls into the bottom, at this moment bank
Salvage person water-bed situation is observed by the photographic head that is arranged in robot.First give airbag aeration with air pump on the bank, make
Airbag aeration, but be not filled with, so that robot is suspended in water, afterwards to propulsion trachea inflation, form propulsive thrust in water, drive
Robot advances, and to controlling the steering trachea ventilating control direction of advance turning to, makes robot move to corresponding region.
After reaching the position observed, the gas in air bag is extracted out, so that robot is again fallen at the bottom, so real by robot manipulator structure
Now under water take thing.And then, present configuration is simple, and low cost of manufacture can be commonly used in life, facilitate the police to handle a case, and uses
Robot replaces manpower, protects the safety of staff.
Refer to Fig. 2 and Fig. 3, in air bag region 17, it is symmetrical in main casing 11 for air bag.Propulsive gas Gutron
Cross forward block 18 and realize outlet side opening direction, turn to trachea and outlet side opening direction is realized by steering block 19.
The connecting portion that described body construction 1 includes main casing 11 with the cylinder being fixed at described main casing 11 two ends
12, the dead in line of the axis of two described connecting portions 12 and described body construction 1, described standing mechanism 2 is sheathed on described company
Outside socket part 12, and the axial-rotation around described connecting portion 12.
It is provided with cannelure 13 outside described connecting portion 12, described standing mechanism 2 is fixed with axial fixing structure, described
Axial fixing structure is arranged in described cannelure 13.In the present embodiment, axial fixing structure is nail 24, and nail 24 passes through and turns
Wheel shaft 21 is inserted in cannelure 13, to limit along its axially-movable between connecting portion 12 and runner shaft 21, and then limits body
Axially-movable between structure 1 and standing mechanism 2, ensures to relatively rotate between the two simultaneously.
Described connecting portion 12 is provided with the through hole 14 that air supply pipe passes through, and this through hole 14 sets along the axial direction of described connecting portion 12
Put, the bottom of described main casing 11 also is provided with the through hole 15 that air supply pipe passes through, and described propulsion trachea and steering trachea are by described
Through hole 14 on connecting portion 12 enters in described main casing 11, then the through hole 15 through described main casing 11 bottom connects to described master
The outside of housing 11, described air bag trachea connects to described main casing 11 through the through hole 14 on described connecting portion 12.Air bag gas
Pipe, advance trachea, turn to trachea, wash away trachea etc. and concentrate in hollow region 16 and respectively lead to other regions again.
Refer to Fig. 2 and Fig. 3, described standing mechanism 2 includes the runner shaft 21 of a hollow and is vertical at described turning
The blade in wheel shaft 21 outside, described runner shaft 21 is sheathed on the two ends of described body construction 1, and the axis of described runner shaft 21 with
The dead in line of described body construction 1.
The quantity of described blade is four, and four described blades are uniformly distributed in outside described runner shaft 21.
The adjacent described blade 23 of two of which is solid, and the adjacent described blade 22 of another two is hollow, solid
The thickness of described blade 23 is along connecting one end of runner shaft 21 to the direction of the other end by thin thickening.
Refer to Fig. 4, described robot manipulator structure 3 includes 33, two, pneumatic cylinder 31,32, two magnets of piston rod
Frame 35 and two curved bars 34, described piston rod 32 moves linearly along described pneumatic cylinder 31, and described pneumatic cylinder 31 passes through pneumatic cylinder
Trachea is connected with described air pump, and certainly, pneumatic cylinder trachea enters into main casing 11 also by through hole 14, and then enters into pneumatic cylinder
31, pneumatic cylinder trachea also is provided with switch valve, two described supports 35 are fixedly connected with described body construction 1, two described songs
The shaft of bar 34 is hinged with two described supports 35 respectively, and two described curved bars 34 are oppositely arranged, and two described curved bars 34
Axis of rotation is parallel, and two described magnets 33 are respectively arranged on one end of two described curved bars 34, during closure state, described in two
The attracting closure of magnet 33, during open mode, promotes the another of two described curved bars 34 by the rectilinear movement of described piston rod 32
One end, and then two described curved bars 34 are rotated, finally make two described magnets 33 separately.
In the present embodiment, described body construction 1 is additionally provided with photographic head 5, described body construction 1 is additionally provided with display lamp 4.
Completely by gas control system, material is engineering plastics and aluminum for the robot of Qu Wu under water of the present embodiment.Structure is mainly wrapped
The robot body structure 1 of the spheroid-like containing a hollow, wherein hollow part are used for installing air bag and distribution trachea, body
Upper perforate prevents silting in vivo；Two are placed in robot body both sides for standing machine that robot stands under water
Structure 2, it is arranged symmetrically, and two runner shafts 21 have four blades, and two of which blade 22 head is constant to base widths, and is
Hollow, two other solid vane 23 is gradually broadened by narrow for base portion to head, two solid vane 23 sides therefore in water
Always in lower section, two solid vane 23 heavier-weight simultaneously, the center of gravity that this ensure that two runner shafts 21 is in geometric center
It is ensured that runner shaft 21 is in water-bed stability, runner shaft 21, along axis opened hole, enters machine human body for trachea for underface
Interior；It is placed within body construction 1 two air bags that relative position is fixed, it is arranged symmetrically, with machine when ensureing to float
People ensures balance；Two pairs of robot arm structures 3 being used as salvaging, wherein, because the normality that the effect of magnet leads to mechanical hand is
Clip closes, and when pneumatic cylinder f end is inflated, piston rod j travels forward, and manipulator mechanism 3 is opened.When thing to be salvaged is ferrum
During product, the magnet of head can adsorb ironwork, when article to be salvaged are non-ironwork, then with two curved bars 34
Clamping captures article；It is arranged on the photographic head 5 with robot to be used for being sent on the bank image under water, be arranged on robot
Display lamp on body, it is easy to people's observer robot position on the bank, convenient salvaging, and the air pump for producing power is put
On the coast, the assembly relation of body construction domain standing mechanism is that runner shaft 21 is enclosed within the connecting portion 12 at main casing 11 two ends,
Now nail 24 being passed through in the hole on runner shaft 21, snapping in cannelure 13, thus limiting runner shaft 21 relative axis simultaneously
The motion in direction.Being arranged as of gas control connects three main tracheas from air pump, on the coast main trachea is divided into 5 bronchus, point
Not Wei air bag trachea, advance trachea, turn to trachea, wash away trachea and pneumatic cylinder trachea, and switch is installed on often with bronchus
Valve, controls inflation.Air bag trachea is divided into two two grades of bronchus, is respectively coupled on air bag, for inflating to two air bags simultaneously,
Two two grades of tracheas inflate simultaneously it is ensured that the balance that floats of robot；Propulsion trachea is divided into 4 two grades of bronchus from main casing 11
Main casing 11 bottom is arrived in inside, is placed in four symmetrical positions of bottom part body, in the presence of four by four forward blocks 18 respectively
During trachea inflation, produce thrust forward, band mobile robot advances, because four tracheas are inflated simultaneously, and position is in bottom
On four angles, thus ensure that the stability that robot advances；Turn to trachea and bottom part body e is directly anchored to by steering block 19
Position, direction be cut parallel to bottom part body vertical with the direction of main body axis, when to this Gutron gas, air-flow produce push away
The head that power is advanced with mobile robot realizes the steering in a direction thus changing the direction of advance of robot；Pneumatic cylinder tracheorrhaphy
It is connected in respectively in the pneumatic cylinder 31 on robot manipulator structure 3 for two two grades of bronchus, control the opening and closing of robot arm, two
The action of robot arm is synchronous, and therefore this two two grades of bronchus are inflated simultaneously；Wash away trachea to connect to master by through hole 15
Housing 11 is not fixed behind outside, and the length of pipe can reach the bottom substantially, and when washing away trachea ventilation to this, pipe swings water-bed,
Thus blowing the mud at the bottom open, help find salvaged article.
In sum, the present invention possesses following technique effect:
I, underwater robot is put in water, air bag is not inflated, and due to action of gravity, robot falls into the bottom, at this moment bank
The salvage person on side observes water-bed situation by the photographic head being arranged in robot.
Ii, basis, from the situation of cam feedback, are first given, with air pump on the bank, the trachea ventilation controlling airbag aeration, are made gas
Capsule is inflated, but is not filled with, and so that robot is suspended in water, afterwards to propulsion trachea inflation, forms propulsive thrust, carry motivation in water
Device people advances, and to controlling the steering trachea ventilating control direction of advance turning to, makes robot move to corresponding region.
, reach the position observed after, the gas extraction in air bag makes robot again fall at the bottom, discharge afterwards
The trachea that washes away of mud is inflated, and mud under water is blown open, it is determined whether for needing the article salvaged, gives afterwards and control robot arm
Air valve inflation, drive machine hands movement, salvaged, if ironwork, then adsorbed by the magnet on mechanical hand,
If non-ironwork, then entangled by the string bag on mechanical hand.
, ventilated to air bag by air pump after the completion of salvaging, the buoyancy being produced by air bag, by robot band backwater surface, works
By the display lamp with robot, personnel can determine that robot position is salvaged.
Claims (9)
1. one kind under water Qu Wu robot it is characterised in that: include body construction, standing mechanism, air bag, propulsion trachea, steering
Trachea, robot manipulator structure, and located at air pump on the bank, two described standing mechanisms divide along the axis direction of described body construction
Not located at the two ends of described body construction, described air bag in described body construction, described propulsion trachea and turn to trachea
Inlet end is all connected with described air pump, and outlet side is connected to the outside of described body construction, the outlet side of described propulsion trachea
The axial direction being directed parallel to described body construction of opening, the direction of the end opening of giving vent to anger of described steering trachea horizontally sets
Put, and the axial direction perpendicular to described body construction, described robot manipulator structure is installed on described body construction, and described air bag passes through
Air bag trachea is connected with described air pump；Described standing mechanism includes the runner shaft of a hollow and is vertical at described runner shaft
The blade in outside, described runner shaft is sheathed on the two ends of described body construction, and the axis of described runner shaft and described bulk junction
The dead in line of structure.
2. Qu Wu robot under water as claimed in claim 1 it is characterised in that: described body construction includes main casing and fixation
Located at the connecting portion of the cylinder at described main casing two ends, the axis weight of the axis of two described connecting portions and described body construction
Close, described standing mechanism is sheathed on outside described connecting portion, and the axial-rotation around described connecting portion.
3. Qu Wu robot under water as claimed in claim 2 it is characterised in that: be provided with cannelure, institute outside described connecting portion
State and be fixed with axial fixing structure on standing mechanism, described axial fixing structure is arranged in described cannelure.
4. Qu Wu robot under water as claimed in claim 2 it is characterised in that: described connecting portion is provided with what air supply pipe passed through
Through hole, this through hole is axially arranged along described connecting portion, and the bottom of described main casing also is provided with the through hole that air supply pipe passes through, described
Propulsion trachea and steering trachea pass through in the through hole described main casing body of entrance on described connecting portion, then through described main casing bottom
Through hole connects to the outside of described main casing, and described air bag trachea connects to described main casing through the through hole on described connecting portion
Interior.
5. Qu Wu robot under water as claimed in claim 1 it is characterised in that: the quantity of described blade is four, four institutes
State blade to be uniformly distributed in outside described runner shaft.
6. Qu Wu robot under water as claimed in claim 5 it is characterised in that: the adjacent described blade of two of which is solid
, the adjacent described blade of another two is that the thickness edge of hollow, solid described blade connects one end of runner shaft to the other end
Direction by thin thickening.
7. Qu Wu robot under water as claimed in claim 1 it is characterised in that: described robot manipulator structure include pneumatic cylinder,
Piston rod, two magnets, two supports and two curved bars, described piston rod moves linearly along described pneumatic cylinder, described gas
Cylinder pressure is connected with described air pump by pneumatic cylinder trachea, and two described supports are fixedly connected with described body construction, described in two
The shaft of curved bar is hinged with two described supports respectively, and two described curved bars are oppositely arranged, and the rotary shaft of two described curved bars
The heart is parallel, and two described magnets are respectively arranged on one end of two described curved bars, and during closure state, two described magnets are attracting
Closure, during open mode, is promoted the other end of two described curved bars, and then makes two by the rectilinear movement of described piston rod
Described curved bar rotation, finally makes two described magnets separately.
8. Qu Wu robot under water as claimed in claim 1 it is characterised in that: be additionally provided with photographic head on described body construction.
9. Qu Wu robot under water as claimed in claim 1 it is characterised in that: be additionally provided with display lamp on described body construction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410398417.8A CN104149949B (en) | 2014-08-13 | 2014-08-13 | Robot for fetching underwater object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410398417.8A CN104149949B (en) | 2014-08-13 | 2014-08-13 | Robot for fetching underwater object |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104149949A CN104149949A (en) | 2014-11-19 |
| CN104149949B true CN104149949B (en) | 2017-01-25 |
Family
ID=51875630
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410398417.8A Expired - Fee Related CN104149949B (en) | 2014-08-13 | 2014-08-13 | Robot for fetching underwater object |
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| CN (1) | CN104149949B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105766822B (en) * | 2014-12-26 | 2018-06-26 | 青岛赶海机器人有限公司 | A kind of gantry frame running vehicle type underwater operation robot |
| CN105501413A (en) * | 2015-12-31 | 2016-04-20 | 重庆楠婧琳科技开发有限公司 | Underwater detecting device |
| CN105888671B (en) * | 2016-04-29 | 2018-01-02 | 浙江海洋大学 | Marine minerals grabbing device and its acquisition method |
| CN108674612A (en) * | 2017-07-31 | 2018-10-19 | 张琦 | A kind of underwater robot with cleaning agency |
| CN111559476B (en) * | 2020-01-20 | 2021-02-12 | 上海交通大学 | Floating type fishing device suitable for underwater long columnar object |
| CN114260924B (en) * | 2022-03-01 | 2022-05-03 | 广东海洋大学 | Underwater mechanical arm |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1199729A (en) * | 1966-10-24 | 1970-07-22 | Rowland Lewis Robert Morgan | Tractor Vehicle for Underwater Use |
| SU1489983A2 (en) * | 1987-07-29 | 1989-06-30 | Белорусский Политехнический Институт | Gripping device |
| JP3743686B2 (en) * | 1996-04-05 | 2006-02-08 | 独立行政法人海洋研究開発機構 | Position confirmation device for underwater robot and gas supply device using the device |
| JP2000047294A (en) * | 1998-07-27 | 2000-02-18 | Fusoo Denshi:Kk | Underwater mobile photographing device |
| JP2005324074A (en) * | 2004-05-12 | 2005-11-24 | Yokogawa Electric Corp | Device for dissolving gas |
| CN103818533A (en) * | 2012-11-18 | 2014-05-28 | 上海市浦东新区知识产权保护协会 | Multi-functional underwater operation robot |
-
2014
- 2014-08-13 CN CN201410398417.8A patent/CN104149949B/en not_active Expired - Fee Related
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| CN104149949A (en) | 2014-11-19 |
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Effective date of registration: 20180522 Address after: 200030 G2 3, 2 building, 825 zhaojiaxin Road, Xuhui District, Shanghai. Patentee after: SHANGHAI DESHU INTELLIGENT TECHNOLOGY CO.,LTD. Address before: 200240 Jiangchuan Road, Minhang District, Minhang District, Shanghai Patentee before: Shanghai Dianji University |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170125 |