CN108323480A - A kind of submarine fishing robot - Google Patents
A kind of submarine fishing robot Download PDFInfo
- Publication number
- CN108323480A CN108323480A CN201810309768.5A CN201810309768A CN108323480A CN 108323480 A CN108323480 A CN 108323480A CN 201810309768 A CN201810309768 A CN 201810309768A CN 108323480 A CN108323480 A CN 108323480A
- Authority
- CN
- China
- Prior art keywords
- bottom plate
- plate
- circuit control
- several
- front panel
- 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
- 241000251511 Holothuroidea Species 0.000 claims description 21
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000009189 diving Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 241000258957 Asteroidea Species 0.000 description 1
- 241000258955 Echinodermata Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004078 waterproofing 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
- A01K80/00—Harvesting oysters, mussels, sponges or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of submarine fishing robot, including：Carrier part, the carrier part are provided with several propellers, camera and circuit control part, and several propellers, the camera are electrically connected with the circuit control part respectively, and the circuit control part is also connect by cable with external power pack；Execution part, the carrier part are installed on the upper end of the execution part by flanged plate；The execution part is provided with several manipulators and drive part, and the circuit control part is electrically connected with the drive part, and the drive part is drivingly connected several manipulators.Using the present invention, adjustable spring paw and side paw pick-and-place are made by the slider-crank mechanism of execution part, and then realize the action of submarine fishing.Meanwhile by the propeller, camera and circuit control part of carrier part, realizing the movement in detection seabed and robot.
Description
Technical field
The present invention relates to the technical field of robot more particularly to a kind of submarine fishing robots.
Background technology
Submarine fishing robot is a kind of for salvaging benthon, such as the machine of starfish, shell or marine rock
People, the invention particularly relates to salvage sea cucumber.
Sea cucumber is to live in ocean echinoderm in the sea, is not only precious food and rare medicinal material.Current
What the salvage of sea cucumber typically manually carried out.It is, artificial diving is in the sea then by manually carrying out capturing sea
Ginseng.There is following defects for artificial capture method sea cucumber：(1) artificial capture method sea cucumber inefficiency so that the quantum of output of sea cucumber is less；
(2) often diving time is limited for artificial capture method, and the distance manually walked is limited, so that capturing efficiency is influenced；(3)
Artificial diving has certain danger, and unnecessary personnel is caused to injure.
Although there are also many submarine fishing robots, such robot is chiefly used in salvaging water plant, or salvages sea
Bottom shipwreck, and the device of such robot is larger.
Invention content
For the above problem existing for existing fishing robot, a kind of submarine fishing robot is now provided, machine is passed through
People replaces artificial salvaging, and device is small and exquisite, not only improves efficiency, but also more safe and reliable.
Specific technical solution is as follows：
A kind of submarine fishing robot, wherein including：Carrier part, the carrier part are provided with several propellers, take the photograph
As head and circuit control part, several propellers, the camera are electrically connected with the circuit control part respectively, described
Circuit control part is also connect by cable with external power pack, and the carrier part is for detecting seabed and driving the machine
Device people moves；Execution part, the carrier part are installed on the upper end of the execution part by flanged plate；The execution part
It is provided with several manipulators and drive part, the circuit control part is electrically connected with the drive part, the drive part
It is drivingly connected several manipulators.
Above-mentioned a kind of submarine fishing robot, wherein the execution part includes：Front panel, lower panel and bottom plate, institute
It states front panel and connects the lower panel with one end of the bottom plate, the front panel connects the method with the other end of the bottom plate
Blue plate, and parallel interval between the front panel and the bottom plate.
Above-mentioned a kind of submarine fishing robot, wherein the execution part further includes：Slider plate, the slider plate can
It is slidably mounted between the front panel and the bottom plate, and the slider plate is parallel with the bottom plate.
Above-mentioned a kind of submarine fishing robot a, wherein polished rod is respectively set in four angles of the bottom plate, each described
Polished rod runs through four angles of the slider plate so that and the slider plate is slided by the polished rod, meanwhile, it is located at the slider plate
Each polished rod between the bottom plate is arranged with spring and bushing, and the bushing is butted on the slider plate, the spring
It is butted on the bottom plate
Above-mentioned a kind of submarine fishing robot, wherein several manipulators include：Three adjustable spring paws and three
One end of a connecting rod, each connecting rod is articulated with the slider plate, and the other end of each connecting rod runs through the front panel
And it is hinged with the front panel, meanwhile, the other end of each connecting rod is also connected with an adjustable spring paw.
Above-mentioned a kind of submarine fishing robot, wherein several manipulators further include：Two side paws and two
One end of connecting rod, two connecting rods is articulated with the slider plate, and the other end of two connecting rods is articulated with the two of the front panel
Side, meanwhile, the other end of each connecting rod is also connected with a side paw.
Above-mentioned a kind of submarine fishing robot, wherein three adjustable spring paws are mutually parallel, and adjacent two
The minimum diameter for being smaller than sea cucumber between the adjustable spring paw.
Above-mentioned a kind of submarine fishing robot, wherein the drive part includes：Motor, reel, pulley and connection
Rope, the circuit control part is electrically connected with the motor, the motor and the pulley on the bottom plate, it is described around
Line wheel is mounted on the motor, and on the reel, the other end of the connecting rope twines the one ends wound of the connecting rope
It is wound on the pulley, and is connect with the slider plate through the bottom plate.
Above-mentioned a kind of submarine fishing robot, wherein the carrier part includes：Shell, the shell pass through flange
Plate is installed on the upper end of the execution part, and the shell is sealed electronic storehouse close to one end of several manipulators, described
Camera and the circuit control part are mounted in the sealed electronic storehouse.
Above-mentioned a kind of submarine fishing robot, wherein several propellers include：Two horizontal propellers and three
Vertical propeller, two horizontal propellers and three vertical propellers are separately mounted on the shell, two water
Flat propeller is responsible for controlling the robot forward speed and direction, and three vertical propellers are responsible for adjusting the robot
Underwater posture.
The good effect that above-mentioned technical proposal has compared with prior art is：
(1) adjustable spring paw and side paw pick-and-place are made by the slider-crank mechanism of execution part, and then realized
Sea cucumber is such as salvaged in the action of submarine fishing.
(2) by the propeller of carrier part, camera and circuit control part, the shifting in detection seabed and robot is realized
It is dynamic, such as detect sea cucumber.
Description of the drawings
Fig. 1 is a kind of stereogram of the embodiment of submarine fishing robot of the present invention；
Fig. 2 is a kind of side view of the embodiment of submarine fishing robot of the present invention.
In attached drawing：1, sealed electronic storehouse；2, adjustable spring paw；3, shell；4, side paw；5, lower panel；6, front
Plate；7, polished rod；8, slider plate；9, spring；10, motor；11, bottom plate；12, bushing；13, connecting rod；14, flanged plate；15, connecting rod；
16, reel；17, pulley；18, connecting rope.
Specific implementation mode
The invention will be further described in the following with reference to the drawings and specific embodiments, but not as limiting to the invention.
Fig. 1 is a kind of stereogram of the embodiment of submarine fishing robot of the present invention, and Fig. 2 is a kind of seabed of the present invention
The side view of the embodiment of fishing robot refers to shown in Fig. 1 and Fig. 2.Show a kind of submarine fishing of preferred embodiment
Robot, the robot are located at underwater comprising：Carrier part, carrier part is for detecting seabed sea cucumber and driving integrated machine
Device people moves.Specifically, carrier part is provided with several propellers, camera (not shown) and circuit control part (figure
In be not shown), several propellers, camera are electrically connected with circuit control part respectively, circuit control part also by cable with
External power pack connection, external power pack are located on the water surface.Circuit control part can control camera and several propulsions
Device works, and the sea cucumber in seabed is detected by camera, the movement of whole robot is driven by several propellers.
In addition, a kind of submarine fishing robot of the present embodiment further includes：Execution part, execution part is for capturing and storing up
Deposit sea cucumber.Specifically, carrier part is installed on the upper end of execution part by flanged plate 14.Execution part is provided with several machineries
Hand and drive part, circuit control part are electrically connected with drive part, and drive part is drivingly connected several manipulators.Circuit control
Part control drive part work, drive part drive several manipulators to realize the crawl to sea cucumber, and by the sea cucumber of crawl into
Row storage.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses.
The present invention also has on the basis of the above is implemented as follows mode：
Further, as preferred embodiment, shown in referring to Fig. 1 and Fig. 2.Execution part includes：Front
The other end of one end connecting bottom board 11 of plate 6, lower panel 5 and bottom plate 11, front panel 6 and bottom plate 11, front panel 6 and bottom plate 11 connects
Acting flange plate 14, and the interval that is mutually parallel between front panel 6 and bottom plate 11.Specifically, the lower end of front panel 6 and bottom plate 11 connects
Connect lower panel 5, the upper end connecting flange plate 14 of front panel 6 and bottom plate 11.By the design of plate, it is conducive to the peace of whole robot
The placement of dress and several manipulators and drive part, meanwhile, also it is effectively reduced cost.
Further, as preferred embodiment, execution part further includes：Slider plate 8, slider plate 8 are slideably pacified
Loaded between front panel 6 and bottom plate 11, and slider plate 8 is parallel with bottom plate 11 so that slider plate 8 plate 6 and bottom plate 11 in front
Between can be moved forward and backward along lower panel 5.
Further, as preferred embodiment, a polished rod 7 is respectively set on four angles of bottom plate 11, and each
Polished rod 7 runs through four angles of slider plate 8 so that slider plate 8 can be slided along polished rod 7.Meanwhile being located at 8 He of slider plate
Bushing 12 and spring 9 are also arranged on each polished rod 7 between bottom plate 11, one end of each bushing 12 is butted on slider plate 8, each
The other end of bushing 12 is butted on one end of a spring 9, and the other end of the spring 9 is butted on bottom plate 11.Slider plate 8 passes through 7 He of polished rod
Bushing 12 is used as guiding mechanism, and the spring 9 between bushing 12 and bottom plate 11 effectively to provide screen resilience for slider plate 8.
Further, as preferred embodiment, several manipulators include：Three adjustable spring paws 2 and three companies
One end of bar 13, each connecting rod 13 is articulated with slider plate 8, and the other end of each connecting rod 13 is cut with scissors through front panel 6 and with front panel 6
It connects, meanwhile, the other end of each connecting rod 13 is also connected with an adjustable spring paw 2.There is bullet the front end of each adjustable spring paw 2
Spring leading portion can retract automatically when the spring leading portion of adjustable spring paw 2 encounters seabed, when adjustable spring paw 2 opens before spring
Section meeting automatic spring, conducive to arresting for sea cucumber.
Further, it as preferred embodiment, is mutually parallel between three adjustable spring paws 2, and adjacent two
The minimum diameter for being smaller than sea cucumber between a adjustable spring paw 2 is effectively prevented sea cucumber from two neighboring adjustable spring
It is skidded off between paw 2.
Further, as preferred embodiment, several manipulators further include：Two side paws 4 and two connecting rods
15, one end of two connecting rods 15 is hingedly connected to slider plate 8, and the other end of two connecting rods 15 is articulated with the both sides of front panel 6, together
When, the other end of each connecting rod 15 is also connected with one side paw 4, and sea cucumber is effectively prevented from machine by two side paws 4
People both sides leak out.Adjustable spring paw 2 is connect by connecting rod 13 with slider plate 8, and side paw 4 passes through connecting rod 15 and slider plate 8
Connection forms a slider-crank mechanism, and by the back-and-forth motion of slider plate 8, adjustable spring paw 2 and side paw 4 can be with
Synchronous pick-and-place.
Further, as preferred embodiment, drive part includes：Motor 10, reel 16, pulley 17 and connection
Rope 18, circuit control part is electrically connected with motor 10, and motor 10 and pulley 17 are mounted on bottom plate 11, and reel 16 is mounted on electricity
On machine 10, the one ends wound of connecting rope 18 is on reel 16, and the other end of connecting rope 18 is wrapped on pulley 17, and thus
It is connect with slider plate 8 through bottom plate 11.
Further, as preferred embodiment, motor 10 is waterproof machine, in addition, any connection with motor 10
Water-proofing treatment is done at place, as circuit control part is handled with the place of electrical connection of motor 10 using waterproof sealing.
Further, as preferred embodiment, carrier part includes：Shell 3, shell 3 are installed by flanged plate 14
In the upper end of execution part, shell 3 is sealed electronic storehouse 1, camera and circuit control part close to one end of several manipulators
1 in sealed electronic storehouse, effectively sealing performance is provided for camera and circuit control part.
Further, as preferred embodiment, repository, adjustable spring paw 2 and side hand are provided in shell 3
Pawl 4 stores the sea cucumber of crawl into repository.
Further, as preferred embodiment, several propellers include：Two horizontal propellers and three push away vertically
Into device, two horizontal propellers and three vertical propellers are separately mounted on shell 3, and two horizontal propellers are responsible for controlling whole
Body robot forward speed and rotation direction, three vertical propellers be responsible for adjusting the underwater pose adjustment of whole robot and
The vertical lift of robot.
Further, it may be mounted at as preferred embodiment, two horizontal propellers and three vertical propellers
The tail portion of shell 3.
Further, as preferred embodiment, two horizontal propellers may be mounted at the both sides of shell 3, and three
A vertical propeller may be mounted at the upper surface of shell 3, and three vertical propellers are arranged into triangle.
The present invention also has following occupation mode on the basis of the above：
Shown in referring to Fig. 1 and Fig. 2, external power supply power supply, circuit control part controls motor 10 and rotates.Work as electricity
When machine 10 rotates forward, reel 16 rotates forward, and connecting rope 18 is tightened up, and slider plate 8 is pulled to bottom plate 11, adjustable spring paw 2 and side
Face paw 4 opens.When motor 10 inverts, reel 16 inverts, and connecting rope 18 is relaxed, effect of the slider plate 8 due to spring 9
It is open, adjustable spring paw 2 and side paw 4 are firmly grasped, and realize the salvaging of sea cucumber.Further, since three adjustable spring paws 2
For spring, so the spring leading portion of adjustable spring paw 2 can retract automatically when encountering seabed, when adjustable spring paw 2 opens
Automatic spring.Advance and turn in addition, passing through circuit control part and controlling two horizontal propellers and realize in the water of robot, together
When, the vertical propeller of control three realizes the underwater pose adjustment of robot and the vertical lift of robot.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (10)
1. a kind of submarine fishing robot, which is characterized in that including：
Carrier part, the carrier part are provided with several propellers, camera and circuit control part, several propulsions
Device, the camera are electrically connected with the circuit control part respectively, and the circuit control part also connects with external power pack
It connects, the carrier part is for detecting seabed and driving the robot movement；
Execution part, the carrier part are installed on the upper end of the execution part；The execution part is provided with several machineries
Hand and drive part, the circuit control part are electrically connected with the drive part, and the drive part is drivingly connected several institutes
State manipulator.
2. submarine fishing robot according to claim 1, which is characterized in that
The carrier part is installed on the upper end of the execution part by flanged plate；
The execution part includes：Front panel, lower panel and bottom plate, the front panel and one end of the bottom plate connect it is described under
Panel, the front panel and the other end of the bottom plate connect the flanged plate, and between the front panel and the bottom plate
Parallel interval.
3. submarine fishing robot according to claim 2, which is characterized in that
The execution part further includes：Slider plate, the slider plate be slidably mounted on the front panel and the bottom plate it
Between, and the slider plate is parallel with the bottom plate.
4. submarine fishing robot according to claim 3, which is characterized in that
A polished rod is respectively set in four angles of the bottom plate, and each polished rod runs through four angles of the slider plate so that institute
Slider plate is stated to slide by the polished rod, meanwhile, each polished rod between the slider plate and the bottom plate is arranged
There are spring and bushing, the bushing to be butted on the slider plate, the spring is butted on the bottom plate.
5. submarine fishing robot according to claim 4, which is characterized in that
Several manipulators include：Three adjustable spring paws and three connecting rods, one end of each connecting rod are articulated with institute
Slider plate is stated, the other end of each connecting rod is through the front panel and hinged with the front panel, meanwhile, each company
The other end of bar is also connected with an adjustable spring paw.
6. submarine fishing robot according to claim 4, which is characterized in that
Several manipulators further include：Two side paws and two connecting rods, one end of two connecting rods are articulated with the cunning
The other end of block plate, two connecting rods is articulated with the both sides of the front panel, meanwhile, the other end of each connecting rod is also connected with
The one side paw.
7. submarine fishing robot according to claim 5, which is characterized in that
Three adjustable spring paws are mutually parallel, and are smaller than sea cucumber between the adjacent two adjustable spring paw
Minimum diameter.
8. submarine fishing robot according to claim 4, which is characterized in that
The drive part includes：Motor, reel, pulley and connecting rope, the circuit control part are electrically connected with the motor
It connects, the motor and the pulley are mounted on the bottom plate, and the reel is mounted on the motor, the connecting rope
On the reel, the other end of the connecting rope is wrapped on the pulley one ends wound, and runs through the bottom plate and institute
State slider plate connection.
9. submarine fishing robot according to claim 1, which is characterized in that
The carrier part includes：Shell, the shell are installed on the upper end of the execution part, the shell by flanged plate
It is sealed electronic storehouse close to one end of several manipulators, the camera and the circuit control part are mounted on described close
It seals in electronics storehouse.
10. submarine fishing robot according to claim 9, which is characterized in that
Several propellers include：Two horizontal propellers and three vertical propellers, two horizontal propellers and three
The vertical propeller is separately mounted on the shell, and two horizontal propellers are responsible for controlling the robot forward speed
And direction, three vertical propellers are responsible for adjusting the underwater posture of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810309768.5A CN108323480A (en) | 2018-04-09 | 2018-04-09 | A kind of submarine fishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810309768.5A CN108323480A (en) | 2018-04-09 | 2018-04-09 | A kind of submarine fishing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108323480A true CN108323480A (en) | 2018-07-27 |
Family
ID=62932866
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810309768.5A Pending CN108323480A (en) | 2018-04-09 | 2018-04-09 | A kind of submarine fishing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108323480A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050824A (en) * | 2018-07-31 | 2018-12-21 | 河北工业职业技术学院 | Underwater deliverance apparatus |
| CN111422330A (en) * | 2020-03-17 | 2020-07-17 | 国网山东省电力公司青岛市黄岛区供电公司 | Magnetic force couple formula seabed is carried cable device |
| CN111422332A (en) * | 2020-03-02 | 2020-07-17 | 杭州电子科技大学 | Launching type flexible fishing robot for marine suspended matters |
| CN111559476A (en) * | 2020-01-20 | 2020-08-21 | 上海交通大学 | Floating type fishing device suitable for underwater long columnar object |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW502690U (en) * | 2001-08-23 | 2002-09-11 | Han-Tai Fan | Moveable coordinates type robot and controlling system thereof |
| CN103029818A (en) * | 2012-12-18 | 2013-04-10 | 浙江工业大学 | Biomimetic benthon fishing robot |
| CN105252531A (en) * | 2015-11-26 | 2016-01-20 | 哈尔滨工业大学 | Paw for double-position grabbing |
| CN107225587A (en) * | 2017-06-27 | 2017-10-03 | 哈尔滨工程大学 | It is a kind of to be used for the lossless form adaptive robot manipulator structure fished for of benthon |
| CN207060364U (en) * | 2017-05-24 | 2018-03-02 | 威海海洋职业学院 | A kind of underwater detection robot |
-
2018
- 2018-04-09 CN CN201810309768.5A patent/CN108323480A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW502690U (en) * | 2001-08-23 | 2002-09-11 | Han-Tai Fan | Moveable coordinates type robot and controlling system thereof |
| CN103029818A (en) * | 2012-12-18 | 2013-04-10 | 浙江工业大学 | Biomimetic benthon fishing robot |
| CN105252531A (en) * | 2015-11-26 | 2016-01-20 | 哈尔滨工业大学 | Paw for double-position grabbing |
| CN207060364U (en) * | 2017-05-24 | 2018-03-02 | 威海海洋职业学院 | A kind of underwater detection robot |
| CN107225587A (en) * | 2017-06-27 | 2017-10-03 | 哈尔滨工程大学 | It is a kind of to be used for the lossless form adaptive robot manipulator structure fished for of benthon |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050824A (en) * | 2018-07-31 | 2018-12-21 | 河北工业职业技术学院 | Underwater deliverance apparatus |
| CN111559476A (en) * | 2020-01-20 | 2020-08-21 | 上海交通大学 | Floating type fishing device suitable for underwater long columnar object |
| CN111559476B (en) * | 2020-01-20 | 2021-02-12 | 上海交通大学 | Floating type fishing device suitable for underwater long columnar object |
| CN111422332A (en) * | 2020-03-02 | 2020-07-17 | 杭州电子科技大学 | Launching type flexible fishing robot for marine suspended matters |
| CN111422330A (en) * | 2020-03-17 | 2020-07-17 | 国网山东省电力公司青岛市黄岛区供电公司 | Magnetic force couple formula seabed is carried cable device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108323480A (en) | A kind of submarine fishing robot | |
| CN107897137B (en) | Open-frame type omnibearing sea cucumber catching robot | |
| CN203652095U (en) | Novel multifunctional underwater robot | |
| CN103183113B (en) | Underwater robot recovery system and recovery method thereof | |
| CN209814238U (en) | Underwater robot | |
| CN108045532A (en) | A kind of underwater electric machinery arm operation gondola and application method | |
| CN108248777A (en) | A kind of multi-functional long-term in-situ observation system in deep-sea | |
| CN107914846A (en) | A kind of robot for being adapted to underwater fishing operation | |
| JPS62215794A (en) | Mooring cable treatment apparatus and remote operational submerged vehicle | |
| CN208842597U (en) | A kind of sea Quick rescue device | |
| CN112692860A (en) | Underwater grabbing device | |
| CN113374479B (en) | Low disturbance mining system of deep sea seabed polymetallic nodule ore | |
| CN210538307U (en) | Suction type sea cucumber catching robot | |
| CN208047795U (en) | A kind of submarine fishing robot | |
| CN207956006U (en) | A kind of underwater fishing robot | |
| CN209965014U (en) | Sea cucumber fishing device | |
| CN206354227U (en) | Underwater intelligent arrests marine product device | |
| US4051797A (en) | Steel boat hull salvaging assembly | |
| CN213768912U (en) | Multifunctional intelligent salvage system on sea | |
| CN110104146A (en) | A kind of self-locking underwater robot docking facilities | |
| CN110641659B (en) | Ocean monitoring robot capable of avoiding wind waves | |
| CN207433777U (en) | Underwater unmanned plane | |
| CN109892298A (en) | A kind of portable small-sized water surface intelligence ship fishing instrument | |
| CN215057351U (en) | Deep sea seabed polymetallic nodule mine mining device | |
| CN114248281A (en) | Underwater repair robot, repair method and ocean operation equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180727 |