CN107258661A - Underwater cleaning robot - Google Patents
Underwater cleaning robot Download PDFInfo
- Publication number
- CN107258661A CN107258661A CN201710667265.0A CN201710667265A CN107258661A CN 107258661 A CN107258661 A CN 107258661A CN 201710667265 A CN201710667265 A CN 201710667265A CN 107258661 A CN107258661 A CN 107258661A
- Authority
- CN
- China
- Prior art keywords
- fuselage
- ultrasonic
- cleaning robot
- propeller
- underwater cleaning
- 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.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 45
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 40
- 230000004913 activation Effects 0.000 claims abstract description 13
- 238000001914 filtration Methods 0.000 claims description 14
- 239000012535 impurity Substances 0.000 claims description 7
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 6
- 229910052799 carbon Inorganic materials 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000010358 mechanical oscillation Effects 0.000 claims description 3
- 241000251468 Actinopterygii Species 0.000 abstract description 48
- 238000005406 washing Methods 0.000 abstract description 8
- 238000007599 discharging Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 8
- 239000007788 liquid Substances 0.000 description 6
- 210000003608 fece Anatomy 0.000 description 4
- 230000035939 shock Effects 0.000 description 3
- 241000894006 Bacteria Species 0.000 description 2
- 238000009395 breeding Methods 0.000 description 2
- 230000001488 breeding effect Effects 0.000 description 2
- 239000003610 charcoal Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009182 swimming Effects 0.000 description 2
- 230000001580 bacterial effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/10—Cleaning bottoms or walls of ponds or receptacles
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses a kind of underwater cleaning robot, including robot fuselage, the propulsion component and ultrasonic activation brush that are arranged at the fuselage；The ultrasonic activation brush includes brush body and the ultrasonic vibration system for encouraging the brush body vibration, the robot of the present invention can carry out the underwater cleaning robot of automatic washing and cleaning operation in the case where not discharging water, so as to alleviate the labor intensity of cleaning fish jar, and the water resource of preciousness is saved.
Description
Technical field
The present invention relates to a kind of robot, specifically a kind of underwater cleaning robot.
Background technology
In recent years, global service robot market quickly grows, and is especially cleaning this field, sweeping robot is achieved
Good achievement, relative to floor cleaning work, cleans then rare people's concern, in fact at present for fish jar, swimming pool, ocean under water
The cleaning under water such as shop is main or reaches cleaning purpose by changing water and artificial cleaning, therefore design one kind can be automatic
The underwater cleaning robot of cleaning operation is necessary.
Relative to the underwater cleaning of the public arenas such as swimming pool, aquarium, this cleaning towards household person of fish jar has more
There is the market space.Aquarist can not possibly pay close attention in fish jar whether have excreta all the time, if excreta in fish jar
Can not clear up in time can cause fish tank water muddy, cause fish unsmooth breath and sick, and it is more numerous and diverse to clean process, to breeding fish
Fan brings many puzzlements；Some aquarists, it is believed that the filter of fish jar can just solve problem, but the filtering of fish jar
Device, which can not be completely covered in fish jar, fish jar, can still leave substantial amounts of excreta, can can't bear the water muddiness in fish jar, and influence is beautiful
See, dirtier water can also breed bacteria, make fish sick, cause the death of fish.
To solve problem above, it is necessary to which a kind of can carry out the clear under water of automatic washing and cleaning operation in the case where not discharging water
Clean robot, so as to alleviate the labor intensity of cleaning fish jar, and has saved the water resource of preciousness.
The content of the invention
In view of this, the purpose of the present invention overcomes defect of the prior art not discharge water there is provided a kind of
In the case of carry out the underwater cleaning robot of automatic washing and cleaning operation, so as to alleviate the labor intensity of cleaning fish jar, and save
Valuable water resource.
The underwater cleaning robot of the present invention, including robot fuselage, it is arranged at the propulsion component of the fuselage and super
Acoustic vibration brush；The ultrasonic activation brush includes brush body and the ultrasonic activation system for encouraging the brush body vibration
System；
Further, the ultrasonic vibration system includes the ultrasonic wave transducer for being used to being converted into high-frequency electrical energy into mechanical oscillation
Device and the ultrasonic variable amplitude bar for amplifying the mechanical vibration amplitudes；
Further, it is additionally provided with filter on the fuselage；The filter includes filter layer, for collecting by the mistake
The receiver for the impurity that filtering layer is filtered out, for making water flow through the propeller and for driving described take out of drawing water of the filter layer
The motor of water propeller rotational；
Further, the propeller that draws water, filter layer and receiver are set gradually from top to bottom；The filter layer includes living
Property layer of charcoal and set up the refined filtration plate and coarse filtration plate of the both sides above and below the active carbon layer separately；The bottom surface of the receiver is to cave inward
The conical surface, and the conical surface center is provided with making the via that current pass through；
Further, the propulsion component includes the vertical pusher being fixedly installed perpendicular to fuselage body bottom surface and can phase
The horizontal propeller rotated for fuselage；The vertical pusher and horizontal propeller include the shell of tubular and are arranged at institute
State the propelling screws in shell and the propulsion motor for driving the propelling screws to rotate；
Further, it is additionally provided with sensor assembly on the fuselage；The sensor assembly includes being used to gather robot
The ultrasonic sensor and infrared sensor and the gyro for gathering fuselage displacement information of the obstacle information of surrounding
Instrument sensor；
Further, the fuselage is rectangular parallelepiped structure；The vertical pusher is arranged at the front end face of fuselage, and level is promoted
Device is two and is symmetrically divided into the two sides of fuselage.
The beneficial effects of the invention are as follows：The underwater cleaning robot of the present invention, fuselage is provided with propulsion component, propeller
Component can using it is existing all can realize underwater propulsion device realize, it is ensured that the robot carries out cleaning work in fish jar
During industry, ultrasonic activation brush can touch the inwall of fish jar, and realize the clear of whole fish jar inwall along the advance of fish jar inwall
Wash operation；The ultrasonic activation brush of the present invention includes brush body and the ultrasonic vibration system for encouraging the brush body vibration,
The brush body of the present invention includes brush holder and the bristle being arranged on brush holder, and ultrasonic vibration system can produce frequency more than 28KHz
Dither, the vibration, which is transferred to after brush body, can encourage brush body dither, and then the dirt of fish jar inwall is brushed down,
In addition, ul-trasonic irradiation is when liquid, it can make to form many small bubbles in liquid；Bubbles burst in liquid can produce energy
The great shock wave of power, this phenomenon is referred to as " cavitation effect ", and cleaning can be reached using the shock wave produced by bubble breaking
With the effect for washing away fish jar inner surface；Therefore, the present invention utilizes the cavitation produced by the dither and ultrasonic wave of brush body simultaneously
Effect is cleaned to fish jar, so that automatic washing and cleaning operation is carried out in the case where not discharging water, so as to alleviate clean fish
The labor intensity of cylinder, and saved the water resource of preciousness.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples：
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the sectional view of the horizontal propeller of the present invention；
Fig. 3 is the sectional view of the filter of the present invention；
Fig. 4 is the sectional view of the ultrasonic activation brush of the present invention.
Embodiment
Fig. 1 is overall structure diagram of the invention.As illustrated, the underwater cleaning robot in the present embodiment, including
Robot fuselage 4, the propulsion component and ultrasonic activation brush 1 for being arranged at the fuselage 4；The ultrasonic activation brush 1
Ultrasonic vibration system 18 including brush body and for encouraging the brush body to vibrate, propulsion component can use all existing energy
Enough realize that the device of underwater propulsion is realized, it is ensured that when the robot carries out washing and cleaning operation in fish jar, ultrasonic activation brush 1 can
The washing and cleaning operation of whole fish jar inwall is realized to touch the inwall of fish jar, and advance along fish jar inwall；The ultrasonic wave of the present invention
Vibration brush 1 includes brush body and the ultrasonic vibration system 18 for encouraging the brush body vibration, and brush body of the invention includes brush
Seat 17 and the bristle 16 being arranged on brush holder 17, ultrasonic vibration system 18 can produce the dither that frequency exceedes 28KHz,
The vibration, which is transferred to after brush body, can encourage brush body dither, and then the dirt of fish jar inwall is brushed down, in addition, ultrasonic wave
When acting on liquid, it can make to form many small bubbles in liquid；Bubbles burst in liquid can produce ability and greatly rush
Ripple is hit, this phenomenon is referred to as " cavitation effect ", can reach cleaning using the shock wave produced by bubble breaking and wash away fish jar
The effect of inner surface；Therefore, the present invention is simultaneously using the cavitation effect produced by the dither and ultrasonic wave of brush body to fish jar
Cleaned, so that automatic washing and cleaning operation is carried out in the case where not discharging water, so that the work for alleviating cleaning fish jar is strong
Degree, and saved the water resource of preciousness.
In the present embodiment, the ultrasonic vibration system 18 includes the ultrasound for being used to being converted into high-frequency electrical energy into mechanical oscillation
Being provided with wave transducer and the ultrasonic variable amplitude bar for amplifying the mechanical vibration amplitudes, body is used to produce high-frequency electrical energy
Drive circuit, ultrasonic transducer produce ultrasonic energy fish jar surface is delivered to by brush, utilize ultrasonic energy
Germ and the filth for removing casing wall are reached in the cavitation effect of fish jar, bacterial plaque, dirt is loosened, destruction bacterium is inside fish jar
Parasitized breeding.
In the present embodiment, filter 6 is additionally provided with the fuselage 4；The filter 6 includes filter layer, for collecting
The receiver 11 of the impurity filtered out by the filter layer, for make water flow through the filter layer draw water propeller 13 and use
In the motor 14 for the rotation of propeller 13 of being drawn water described in driving, because excreta can not in time be cleared up and fish tank water can be caused muddy in fish jar
It is turbid, cause fish unsmooth breath and sick, the filter 6 on the fuselage 4 of robot of the invention can be filtered effectively in fish jar
Various impurity, during filtering, motor, which drives the propeller 13 that draws water to rotate, makes the water in fish jar constantly flow through filter layer, and filter layer can be adopted
Realized with all existing elements that can carry out physical filtering；Receiver 11 should be arranged on filter layer front side (i.e. water flow into
Side) so that the impurity filtered out can be stored in receiver 11, it is to avoid it is discharged in fish jar again.
In the present embodiment, the propeller 13 that draws water, filter layer and receiver 11 are set gradually from top to bottom；The filtering
Layer includes active carbon layer and sets up the refined filtration plate and coarse filtration plate of the both sides above and below the active carbon layer separately；The bottom surface of the receiver 11
For the conical surface caved inward, and the conical surface center is provided with making the via that current pass through；In the present embodiment, robot fuselage 4
The first mounting hole run through provided with above and below, the top surface of fuselage 4 is fixed with end cap 12, and the end cap 12 is provided with and first mounting hole
The second coaxial mounting hole, the filter layer and receiver 11 are sequentially arranged in first mounting hole from top to bottom, motor
Propeller 13 is installed in the second mounting hole with drawing water, and the upper end of the second mounting hole is provided with catch net 15, and draw water propeller 13
During rotation, the water in fish jar will be aspirated, be allowed to flow through receiver 11, refined filtration plate, active carbon layer and coarse filtration plate from the bottom up, activity
Layer of charcoal has filtering adsorptivity well to foul, also, water is flowed out from the bottom to top, and robot fuselage 4 can be made to have in casing wall
There is more preferable attaching ability, in addition, the conical surface that the bottom surface of receiver 11 is set to cave inward, current can drawing in the conical surface
Lead down and filter layer is flowed to by its center via, so as to reduce the resistance that current pass through, in addition, the impurity filtered out will be stored in
In funnelform receiver 11, because the central space of receiver 11 of this structure is small, the space close to outer rim is big, therefore, enters
The impurity for entering receiver 11 is not easy to flow back out from middle via.
In the present embodiment, the propulsion component includes the vertical pusher being fixedly installed perpendicular to the bottom surface of 4 fuselage of fuselage 4
3 and can relative to fuselage 4 rotate horizontal propeller 5；The vertical pusher 3 and horizontal propeller 5 are outer including tubular
Shell 9 and the propelling screws 10 being arranged in the shell 9 and the propulsion drive for driving the propelling screws 10 to rotate
In dynamic motor 7, the present embodiment, the shell 9 of propeller is the barrel shape structure that external diameter is gradually reduced from middle part to two ends, this structure
On the one hand the installing space of propelling screws 10 can be increased, on the other hand can effectively reduces when propeller advances in water and receive
In the resistance arrived, the present embodiment, the axis of the propelling screws 10 in vertical pusher 3 is perpendicular to the bottom surface of fuselage 4, therefore,
Being fixedly installed on the vertical pusher 3 of fuselage 4 is used to promote fuselage 4 to move along the direction perpendicular to its bottom surface, horizontal propeller 5
It is parallel to each other with the shaft axis of fuselage 4 with the bottom surface of fuselage 4, the rotation by horizontal propeller 5 relative to fuselage 4 can be controlled
The direction of motion of the fuselage 4 in water；In addition, fuselage bottom is additionally provided with universal wheel 2, the wheel seat of universal wheel 2 is threadingly attached to
Fuselage bottom, the distance of universal wheel and body bottom surface can be adjusted by rotating wheel seat, universal when robot carries out prune job
Wheel 2 will be adjacent to casing wall, and be rolled on casing wall.
In the present embodiment, sensor assembly is additionally provided with the fuselage 4；The sensor assembly includes being used for harvester
The ultrasonic sensor and infrared sensor of obstacle information around device people and for gathering the displacement information of fuselage 4
Gyro sensor, robot is additionally provided with controller, and the signal output part of controller is used to receive ultrasonic sensor and red
The signal of outer sensor, the control end of controller is used for the action for controlling propulsion component and then controls whole robot in water
Movement；The cleaning of fish jar generally includes the cleaning of casing wall and bottom, and bottom cleaning needs to consider whether fish jar bottom includes
Bed load, for the naked cylinder of no bed load, the bottom of fish jar is cleared up as casing wall cleaning method, for there is the fish jar of bed load, is needed
Strengthen the cleaning dynamics to bottom, it is therefore desirable to which the information gathered by ultrasonic sensor and infrared sensor can be set up
Cartographic information in fish jar provides information foundation for robot obstacle-avoiding location navigation, robot is independently carried out path planning,
Completion clean up task rapidly and efficiently；And gyro sensor is used for all kinds of status informations for gathering robot displacement, protect
Card cleaning course occurs without mistake.
In the present embodiment, the fuselage 4 is rectangular parallelepiped structure；The vertical pusher 3 is arranged at the front end face of fuselage 4,
Horizontal propeller 5 is two and is symmetrically divided into the two sides of fuselage 4, and propeller housing outer wall is fixed with the connection of frustum
Arm, vertical pusher 3 is fixed on the front end face of fuselage 4 by the linking arm, and the linking arm of horizontal propeller 5 includes coaxially setting
Put and relatively turnable upper arm and underarm, upper arm is fixed on the side of fuselage 4, underarm is fixed on the housing of horizontal propeller 5, on
The installing space for being used for installing steering wheel 8 is provided with arm, the output shaft of steering wheel 8, which is connected to underarm, to be used to drive underarm to rotate, and is realized
Rotation of the horizontal propeller 5 relative to fuselage 4.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to skill of the invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (7)
1. a kind of underwater cleaning robot, it is characterised in that：Including robot fuselage, it is arranged at the propulsion component of the fuselage
With ultrasonic activation brush；The ultrasonic activation brush includes brush body and the ultrasonic activation for encouraging the brush body vibration
System.
2. underwater cleaning robot according to claim 1, it is characterised in that：The ultrasonic vibration system includes being used for
High-frequency electrical energy is converted into the ultrasonic transducer of mechanical oscillation and become for the ultrasonic wave for amplifying the mechanical vibration amplitudes
Width bar.
3. underwater cleaning robot according to claim 1, it is characterised in that：Filter is additionally provided with the fuselage；
The filter includes filter layer, the receiver for collecting the impurity filtered out by the filter layer, for making water flow through institute
State draw water propeller and the motor for driving the propeller rotational that draws water of filter layer.
4. underwater cleaning robot according to claim 3, it is characterised in that：The propeller that draws water, filter layer and receipts
Case is set gradually from top to bottom；The filter layer includes active carbon layer and sets up the refined filtration of the both sides above and below the active carbon layer separately
Plate and coarse filtration plate；The bottom surface of the receiver is the conical surface caved inward, and the conical surface center is provided with making what current passed through
Via.
5. underwater cleaning robot according to claim 1, it is characterised in that：The propulsion component is included perpendicular to machine
The vertical pusher that body body bottom surface is fixedly installed and the horizontal propeller that can be rotated relative to fuselage；The vertical pusher and
Shell of the horizontal propeller including tubular is with the propelling screws being arranged in the shell and for driving the propulsion
The propulsion motor of propeller rotational.
6. underwater cleaning robot according to claim 1, it is characterised in that：Sensor die is additionally provided with the fuselage
Block；The sensor assembly includes the ultrasonic sensor and infrared sensor for being used to gather the obstacle information around robot
And for gathering the gyro sensor of fuselage displacement information.
7. underwater cleaning robot according to claim 5, it is characterised in that：The fuselage is rectangular parallelepiped structure；It is described
Vertical pusher is arranged at the front end face of fuselage, and horizontal propeller is two and is symmetrically divided into the two sides of fuselage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710667265.0A CN107258661A (en) | 2017-08-07 | 2017-08-07 | Underwater cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710667265.0A CN107258661A (en) | 2017-08-07 | 2017-08-07 | Underwater cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107258661A true CN107258661A (en) | 2017-10-20 |
Family
ID=60076801
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710667265.0A Pending CN107258661A (en) | 2017-08-07 | 2017-08-07 | Underwater cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107258661A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107801679A (en) * | 2017-12-05 | 2018-03-16 | 苏州贝多环保技术有限公司 | Oil sucking device for fish jar cleaning |
| CN107985526A (en) * | 2017-12-07 | 2018-05-04 | 浙江海洋大学 | Remove the robot of under-water body attachment |
| CN108275250A (en) * | 2018-03-14 | 2018-07-13 | 武汉大学 | A kind of automatically cleaning unmanned boat and its self cleaning method |
| CN110002632A (en) * | 2019-04-23 | 2019-07-12 | 宝盈联华(厦门)生物科技有限公司 | A kind of pet sterilizing bath utensil |
| CN112825812A (en) * | 2021-01-11 | 2021-05-25 | 黄浩奇 | Multifunctional fish tank pneumatic filter |
| CN113118093A (en) * | 2021-04-15 | 2021-07-16 | 哈尔滨工程大学 | Ultrasonic net cage cleaning device based on underwater robot |
| CN113352325A (en) * | 2021-06-17 | 2021-09-07 | 深之蓝海洋科技股份有限公司 | Automatic cleaning method and equipment for culture cabin |
| CN113941918A (en) * | 2021-09-24 | 2022-01-18 | 北京石油化工学院 | Underwater polishing and dust removing robot |
| CN114869187A (en) * | 2022-05-30 | 2022-08-09 | 广州软件学院 | Cleaning method and system of intelligent fish tank cleaning robot |
| CN115486409A (en) * | 2022-10-26 | 2022-12-20 | 西安石油大学 | Bionic flatworm fish tank cleaner and control method thereof |
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| CN104904616A (en) * | 2015-05-22 | 2015-09-16 | 宿州市畜牧兽医技术推广中心 | Breeding duck feeding device |
| CN105180266A (en) * | 2015-08-07 | 2015-12-23 | 重庆大学 | Barrel type radiation and convection heat exchanger and heat exchange treatment method thereof |
| CN105815252A (en) * | 2016-05-01 | 2016-08-03 | 王凯盛 | Robot for automatically cleaning fish tank |
| CN206078663U (en) * | 2016-10-18 | 2017-04-12 | 中国石油大学(华东) | Imitative insect formula fish bowl bed load cleaner |
| CN207305813U (en) * | 2017-08-07 | 2018-05-04 | 重庆大学 | Fish jar cleaning robot |
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| GB8425054D0 (en) * | 1984-10-04 | 1984-11-07 | Remote Marine Systems Ltd | Ultrasonic cleaning |
| US20090173677A1 (en) * | 2007-05-11 | 2009-07-09 | Seura Rodrigo Andres Geraldo | Integral submarine maintenance system that operates by means of a simultaneous removing, vacuuming and filtering effect, generated by a removing device connected to a vacuum device, said vacuum device being connected to a storage and filtering device, said system being used to clean organic pollution that adheres to the substrate of submerged culture systems and/or structures and/or ships and/or equipment both in marine and in fresh water |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107801679A (en) * | 2017-12-05 | 2018-03-16 | 苏州贝多环保技术有限公司 | Oil sucking device for fish jar cleaning |
| CN107985526A (en) * | 2017-12-07 | 2018-05-04 | 浙江海洋大学 | Remove the robot of under-water body attachment |
| CN107985526B (en) * | 2017-12-07 | 2019-11-05 | 浙江海洋大学 | Remove the robot of under-water body attachment |
| CN108275250A (en) * | 2018-03-14 | 2018-07-13 | 武汉大学 | A kind of automatically cleaning unmanned boat and its self cleaning method |
| CN108275250B (en) * | 2018-03-14 | 2019-02-19 | 武汉大学 | A kind of automatically cleaning unmanned boat and its self cleaning method |
| CN110002632A (en) * | 2019-04-23 | 2019-07-12 | 宝盈联华(厦门)生物科技有限公司 | A kind of pet sterilizing bath utensil |
| CN112825812A (en) * | 2021-01-11 | 2021-05-25 | 黄浩奇 | Multifunctional fish tank pneumatic filter |
| CN113118093A (en) * | 2021-04-15 | 2021-07-16 | 哈尔滨工程大学 | Ultrasonic net cage cleaning device based on underwater robot |
| CN113118093B (en) * | 2021-04-15 | 2022-06-07 | 哈尔滨工程大学 | Ultrasonic net cage cleaning device based on underwater robot |
| CN113352325A (en) * | 2021-06-17 | 2021-09-07 | 深之蓝海洋科技股份有限公司 | Automatic cleaning method and equipment for culture cabin |
| CN113941918A (en) * | 2021-09-24 | 2022-01-18 | 北京石油化工学院 | Underwater polishing and dust removing robot |
| CN113941918B (en) * | 2021-09-24 | 2023-08-29 | 北京石油化工学院 | Underwater polishing and dedusting robot |
| CN114869187A (en) * | 2022-05-30 | 2022-08-09 | 广州软件学院 | Cleaning method and system of intelligent fish tank cleaning robot |
| CN115486409A (en) * | 2022-10-26 | 2022-12-20 | 西安石油大学 | Bionic flatworm fish tank cleaner and control method thereof |
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Application publication date: 20171020 |