CN116788477A - Detachable underwater robot - Google Patents
Detachable underwater robot Download PDFInfo
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- CN116788477A CN116788477A CN202310641708.4A CN202310641708A CN116788477A CN 116788477 A CN116788477 A CN 116788477A CN 202310641708 A CN202310641708 A CN 202310641708A CN 116788477 A CN116788477 A CN 116788477A
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- expansion frame
- robot body
- robot
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- frame
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- 210000001503 joint Anatomy 0.000 claims abstract description 15
- 238000003780 insertion Methods 0.000 claims abstract description 14
- 230000037431 insertion Effects 0.000 claims abstract description 14
- 230000000670 limiting effect Effects 0.000 claims description 31
- 239000000463 material Substances 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 abstract description 5
- 238000009434 installation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- 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
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The application provides a detachable underwater robot, relates to the technical field of underwater equipment, and solves the technical problems that the lower robot needs to integrate a plurality of peripheral devices and working tools together, and has large volume and influence on the movement performance. The detachable underwater robot comprises a robot body and an expansion frame, wherein the expansion frame is used for adhering to the wall or the bottom to walk, and/or an operation device is arranged on the expansion frame; one of the robot body and the expansion frame is provided with an insertion part, the other one of the robot body and the expansion frame is provided with a bearing part, the insertion part stretches into the bearing part and can butt joint the robot body and the expansion frame in place, and the robot body and the expansion frame which are in place after being butt-jointed are detachably connected. Different expansion frames and robot bodies can be disassembled and combined at will, so that the robot is applicable to different operation scenes, multiple operation devices are not required to be integrated on one robot, the weight of the underwater robot is conveniently reduced, the size of the underwater robot is reduced, and the operation and the exploration are conveniently performed.
Description
Technical Field
The application relates to the technical field of underwater equipment, in particular to a detachable underwater robot.
Background
The underwater robot and the matched facilities of the underwater robot are the products of various modern high technologies and system integration thereof, and have special significance for ocean economy, ocean industry, ocean development and ocean high technology in China.
When the underwater robot ROV executes the underwater tasks, various peripheral devices or working tools are carried, and due to different working scenes, the ROV is required to perform exploration tasks in different states, namely, the underwater robot ROV is required to carry different sensors and working tools in different working scenes.
The present inventors found that there are at least the following technical problems in the prior art: the existing underwater robots generally integrate various peripheral devices and working tools, so that the underwater robots are large and heavy and have reduced movement performance.
Disclosure of Invention
The application aims to provide a detachable underwater robot, which aims to solve the technical problems that the underwater robot in the prior art needs to integrate a plurality of peripheral devices and working tools together, has large volume and influences the movement performance 。 The preferred technical solutions of the technical solutions provided by the present application can produce a plurality of technical effects described below.
In order to achieve the above purpose, the present application provides the following technical solutions:
the application provides a detachable underwater robot, which comprises a robot body and an expansion frame, wherein:
the expansion frame is used for attaching to the wall or the bottom and walking, and/or the expansion frame is provided with operation equipment;
the robot comprises a robot body and an expansion frame, wherein one of the robot body and the expansion frame is provided with an insertion part, the other one of the robot body and the expansion frame is provided with a bearing part, the insertion part stretches into the bearing part to enable the robot body and the expansion frame to be in butt joint, and the robot body and the expansion frame which are in butt joint are detachably connected.
Preferably, the insertion part comprises a guide post, the receiving part comprises a clamping groove, the guide post is arranged at the bottom of the robot body, the clamping groove is arranged at the top of the expansion frame, and the opening of the clamping groove is upward; or, the draw-in groove set up in the bottom of robot body, the open of draw-in groove is downward, the guide post set up in extend the top of frame.
Preferably, the clamping groove is an arc-shaped groove matched with the outer contour of the guide post, and the clamping groove is used for limiting the guide post to shift in the length direction of the expansion frame.
Preferably, the guide posts extend along the width direction of the robot body, and the clamping grooves for positioning the same guide post are arranged at intervals along the width direction of the expansion frame; the guide posts are arranged at intervals along the length direction of the robot body, and the clamping grooves used for positioning different guide posts are arranged at intervals along the length direction of the expansion frame.
Preferably, one of the robot body and the expansion frame is provided with a buckling groove, the other one of the robot body and the expansion frame is provided with a locking clamp, and after the robot body and the expansion frame are butted in place, the locking clamp can be locked with the buckling groove, so that the robot body and the expansion frame are locked.
Preferably, the locking clip comprises a fixed body, a handle and a clasp, wherein: the fixed body is fixed on the expansion frame, the handle is rotationally connected with the fixed body, the handle is fixedly connected with the retaining ring, and when the retaining ring is clamped on the retaining groove, the robot body can be locked with the expansion frame by rotating the handle.
Preferably, the detachable underwater robot further comprises a limiting plate, the limiting plate is fixed on the expansion frame, and when the robot body is in butt joint with the expansion frame in place, the limiting plate abuts against the robot body so as to limit the robot body to shift in the width direction of the expansion frame.
Preferably, the limiting plate is arranged at the side of the expansion frame and is used for propping against the side wall of the robot body;
or, the limiting plate is positioned in the expansion frame, and the robot body is provided with a positioning block which is propped against the limiting plate.
Preferably, the expansion frame comprises a mechanical arm expansion frame and a crawler expansion frame, and the mechanical arm expansion frame is provided with operation equipment; the crawler expansion frame is used for attaching to the wall or walking on the bottom.
Preferably, the top of robot body is provided with fixed float, the bottom of robot body the upper portion of expansion frame is provided with the headspace for installation load floating block.
Compared with the prior art, the detachable underwater robot provided by the application has the following beneficial effects:
the robot body and the expansion frame realize butt joint positioning through the cooperation structure of the insertion part and the bearing part, each expansion frame and the robot body are convenient to install fast to realize the operation of launching, and as the robot body and the expansion frame are connected in a detachable mode, different expansion frames loaded with different operation equipment or walking by attaching to the wall and the bottom can be fixed on the robot body, different expansion frames and the robot body can be combined in a random mode, different operation scenes are applicable, multiple operation equipment are not required to be integrated on one robot, the weight of the underwater robot is convenient to be lightened, the volume of the underwater robot is reduced, and the underwater robot is convenient to control and exploration.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a robot body;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a schematic structural view of one of the mechanical arm expansion frames;
FIG. 4 is a schematic view of one of the track expansion frames;
FIG. 5 is a schematic view of the structure of the latch clip;
FIG. 6 is a schematic diagram of an assembly structure of a robot body and one of the arm expansion shelves;
FIG. 7 is a schematic diagram of an assembled structure of a robot body and one of the track expansion frames;
fig. 8 is a partial enlarged view at B in fig. 7.
In the figure 1, a robot body; 11. a guide post; 12. a positioning block; 13. a buckling groove; 2. a mechanical arm expansion frame; 3. a crawler expanding frame; 4. a clamping groove; 5. a locking clip; 51. a fixed body; 52. a handle; 53. a clasp ring; 6. and a limiting plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, based on the examples herein, which are within the scope of the application as defined by the claims, will be within the scope of the application as defined by the claims.
In the description of the present application, it should be understood that the terms "center", "length", "width", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "side", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
The embodiment of the application provides a detachable underwater robot, which does not need to integrate various operation equipment on one robot, is convenient for lightening the weight of the underwater robot, reducing the volume of the underwater robot and is convenient for controlling and exploring.
The technical solution provided by the present application is described in more detail below with reference to fig. 1 to 8.
As shown in fig. 1, 3, 4, 6 and 7, the present embodiment provides a detachable underwater robot, which includes a robot body 1 and an expansion frame (the expansion frame includes a mechanical arm expansion frame 2 and a crawler expansion frame 3), wherein: the expansion frame is used for attaching to the wall or attaching to the bottom to walk (a crawler expansion frame 3) and/or is provided with operation equipment (a mechanical arm expansion frame 2); one of the robot body 1 and the expansion frame is provided with an insertion part, the other one of the robot body 1 and the expansion frame is provided with a bearing part, the insertion part stretches into the bearing part to enable the robot body 1 and the expansion frame to be in butt joint, and the robot body 1 and the expansion frame after the butt joint are in place can be detachably connected. Referring to fig. 1, 3 and 4, in this embodiment, an insertion portion is provided on a robot body 1, and a receiving portion is provided on an expansion bracket.
According to the detachable underwater robot of the embodiment, the robot body 1 and the expansion frame are in butt joint positioning through the matching structure of the insertion part and the bearing part, each expansion frame is convenient to rapidly mount and realize the launching operation with the robot body 1, and as the robot body 1 and the expansion frame are detachably connected, different expansion frames loaded with different operation devices or walking by attaching to the wall and the bottom can be fixed on the robot body 1, different expansion frames and the robot body 1 can be randomly dismounted and combined, different operation scenes are applicable, various operation devices are not required to be integrated on one robot, the weight of the underwater robot is convenient to be reduced, the volume of the underwater robot is reduced, and the operation and the exploration are convenient.
As an alternative embodiment, referring to fig. 1, the insertion portion includes a guide post 11, referring to fig. 3 and 4, the receiving portion includes a clamping groove 4, the guide post 11 is disposed at the bottom of the robot body 1, the clamping groove 4 is disposed at the top of the expansion frame (the expansion frame includes a mechanical arm expansion frame 2 and a track expansion frame 3), and the opening of the clamping groove 4 is upward. Alternatively, the clamping groove 4 is arranged at the bottom of the robot body 1, the opening of the clamping groove 4 is downward, and the guide column 11 is arranged at the top of the expansion bracket (not shown in the figure).
In this embodiment, referring to fig. 1, 3, 4 and 8, when the robot body 1 and the expansion frame need to be docked, the guide post 11 is inserted into the clamping groove 4 to position the robot body 1 and the expansion frame, so as to facilitate connection of the robot body 1 and the expansion frame.
Referring to fig. 3 and 4, the clamping groove 4 is an arc-shaped groove matched with the outer contour of the guide post 11, and the clamping groove 4 is used for limiting the guide post 11 to shift in the length direction of the expansion bracket, as shown in fig. 8.
The shape of the clamping groove 4 is matched with the outer contour of the guide post 11, when the guide post 11 is inserted into the clamping groove 4, the guide post 11 cannot shift along the length direction of the expansion frame under the limiting action of the clamping groove 4, and the robot body 1 is conveniently connected with the expansion frame.
As an alternative embodiment, as shown in fig. 1, the guide posts 11 extend in the width direction of the robot body 1, and as shown in fig. 3 and 4, the clamping grooves 4 for positioning the same guide post 11 are arranged at intervals in the width direction of the expansion frame. The same guide post 11 can be fixed through arranging two or more clamping grooves 4, so that the stability between the two can be improved, and the positioning effect can be improved.
As an alternative embodiment, as shown in fig. 1, the guide posts 11 are arranged at intervals along the length direction of the robot body 1, and as shown in fig. 3 and 4, the clamping grooves 4 for positioning the different guide posts 11 are arranged at intervals along the length direction of the expansion frame. Through many guide posts 11 and with corresponding guide post 11 complex draw-in groove 4, can make robot body 1 stabilize in expanding the frame butt joint, further prevent that robot body 1 from shifting in expanding the length direction of frame.
Before connecting robot body 1 and expansion frame, in order to further improve and prevent that robot body 1 from shifting on the expansion frame, guarantee the accuracy of butt joint, as optional implementation mode, see fig. 3, fig. 4 show, detachable underwater robot still includes limiting plate 6, limiting plate 6 is fixed in on the expansion frame, when robot body 1 and expansion frame butt joint put in place, limiting plate 6 offsets with robot body 1 to restriction robot body 1 shifts in the width direction of expansion frame.
The limiting plate 6 abuts against the robot body 1, so that the robot body 1 can be limited to shift in the width direction of the expansion frame. The structure of the limiting plate 6 and the clamping groove 4 is matched with the robot body 1, so that the robot body 1 can be limited to shift in the width direction and the length direction of the expansion frame (or the expansion frame is limited to shift in the width direction and the length direction of the robot body 1), the robot body 1 and the expansion frame are accurately abutted, and the robot body 1 and the expansion frame are conveniently connected.
As an alternative embodiment, referring to fig. 3, 4, 6 and 7, the expansion frame includes a mechanical arm expansion frame 2 and a track expansion frame 3, and the mechanical arm expansion frame 2 is provided with operation equipment; one or more kinds of operation equipment can be arranged on the mechanical arm expansion frame 2; the crawler expansion frame 3 is used for attaching to the wall or the bottom to walk.
Different expansion frames can be replaced according to different operation scenes, and the problem that all operation equipment is integrated on one robot to cause large and heavy size is avoided.
As an alternative embodiment, referring to fig. 3, for the mechanical arm expansion frame, a limiting plate 6 is disposed at an edge of the expansion frame and is used to abut against a side wall of the robot body 1, as shown in fig. 6; or, as shown in fig. 4, for the track expansion frame 3, since the side portion of the track expansion frame 3 is a track, the limiting plate 6 is inconvenient to set, so, as shown in fig. 4, the limiting plate 6 of the track expansion frame 3 is located in the track expansion frame 3, as shown in fig. 1, the positioning block 12 is arranged on the robot body 1, the positioning block 12 is fixed on the guide post 11, the buckling groove 13 is arranged on the positioning block 12, as shown in fig. 7 and 8, the limiting plate 6 is used for propping against the positioning block 12.
Referring to fig. 4 and 8, the clamping groove 4 on the track expansion frame 3 is arranged on the limiting plate 6 of the track expansion frame 3, and the limiting plate 6 with the structure can be matched with the robot body 1, so that the displacement of the robot body 1 in the length direction and the width direction of the expansion frame is prevented, and the structure is compact.
When the robot body 1 and the expansion frame are in place in a butt joint mode, the robot body 1 and the expansion frame can be detachably connected, and in order to achieve rapid and fixed assembly of the robot body 1 and the expansion frame through bolts, and the like, as an alternative implementation mode, as shown in fig. 1, 3 and 4, a buckling groove 13 is formed in one of the robot body 1 and the expansion frame, a locking clamp 5 is arranged on the other of the robot body 1 and the expansion frame, and after the robot body 1 and the expansion frame are in place in a butt joint mode, the locking clamp 5 can be locked with the buckling groove 13, so that the robot body 1 and the expansion frame are in locking joint.
In this embodiment, as shown in fig. 1, a buckling groove 13 is formed on a robot body 1, as shown in fig. 3 and 4, a locking clip 5 is formed on an expansion frame, in order to clearly see the matching structure of the locking clip 5 and the buckling groove 13, the buckling groove 13 on the robot body 1 is shown in the figure, and when the robot body 1 and the expansion frame are butted in place, the matching structure of the locking clip 5 and the buckling groove 13 can be used for realizing quick assembly and fixation of the robot body 1 and the expansion frame, so as to prevent the expansion frame from being eccentric or empty.
As an alternative embodiment, referring to fig. 5, the locking clip 5 includes a fixed body 51, a handle 52, and a clasp 53, wherein: the fixed body 51 is fixed on the expansion frame, the handle 52 is rotationally connected with the fixed body 51, the handle 52 is fixedly connected with the retaining ring 53, and when the retaining ring 53 is clamped on the retaining groove 13, the robot body 1 and the expansion frame can be locked by rotating the handle 52. The retaining ring 53 is in threaded connection with the handle 52, so that the effective length of the retaining ring 53 can be adjusted, and the distance between the fixing body 51 and the fastening groove 13 can be conveniently adapted.
In this embodiment, when the expansion frame is stably placed on the ground, the handle 52 and the retaining ring 53 naturally droop, the robot body 1 is suspended by the crane and slowly placed on the expansion frame from top to bottom, and the guide ring is matched with the clamping groove 4 and the limiting plate 6 and the side wall of the robot body 1 (or the limiting plate 6 and the positioning block 12 of the robot body 1) in the suspension process, so that the robot body 1 is prevented from moving in the length direction and the width direction of the expansion frame, the robot body 1 is accurately butted with the expansion frame, the handle 52 is immediately folded upwards, the retaining ring 53 locks the clamping groove 13, and the four locking clips 5 are sequentially locked in the diagonal direction, so that the quick installation of the expansion frame and the robot body 1 can be completed.
The detachable underwater robot of this embodiment, the top of robot body 1 is provided with fixed float material, and the upper portion headspace of the bottom, the expansion frame of robot body 1 is used for installing the load kicking block. The load floating block is convenient to install, other components are not required to be disassembled, and the load floating block is fixed at the corresponding position through locking pieces such as bolts and screws.
When the load floating block is mounted on the bottom of the robot body, the fixed floating material is positioned at the top of the robot body, so that the whole floating center point moves upwards, the heavy floating center distance of the detachable underwater robot can be increased, the robot has larger rotation moment, and the robot can quickly return to a stable state under water. When the load floating block is mounted on the expansion frame, the fixed floating material is positioned at the top of the robot body, so that the whole floating center point moves downwards, the whole heavy floating center distance of the detachable underwater robot can be reduced, the expansion frame can be in a zero floating state (pulled in heavy floating center position), and the vertical direction of the heavy floating center is basically consistent with the robot body 1, so that the posture control of the robot body 1 is not greatly influenced after the installation; roll and hover of the ROV may be achieved.
When the detachable robot does not need to carry peripheral equipment or working tools, the robot body is simplified to be in a most basic structure, namely, a state without loading floating materials. If a working tool is added, for example, a mechanical arm is added at the front end, the front end is correspondingly added to balance the buoyancy load floating material, other lead blocks are not needed to be added in the state to balance the equipment, the whole equipment reserves the 40KG load floating material, and the robot body and the expansion frame can be installed without changing the overall structure and the overall dimension.
The particular features, structures, or characteristics may be combined in any suitable manner in any one or more embodiments or examples in this specification.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a detachable underwater robot which characterized in that, including robot body and expansion frame, wherein:
the expansion frame is used for attaching to the wall or the bottom and walking, and/or the expansion frame is provided with operation equipment;
the robot comprises a robot body and an expansion frame, wherein one of the robot body and the expansion frame is provided with an insertion part, the other one of the robot body and the expansion frame is provided with a bearing part, the insertion part stretches into the bearing part to enable the robot body and the expansion frame to be in butt joint, and the robot body and the expansion frame which are in butt joint are detachably connected.
2. The detachable underwater robot of claim 1, wherein the insertion portion comprises a guide post, the receiving portion comprises a clamping groove, the guide post is arranged at the bottom of the robot body, the clamping groove is arranged at the top of the expansion frame, and an opening of the clamping groove is upward; or, the draw-in groove set up in the bottom of robot body, the open of draw-in groove is downward, the guide post set up in extend the top of frame.
3. The detachable underwater robot of claim 2, wherein the clamping groove is an arc-shaped groove matched with an outer contour of the guide post, and the clamping groove is used for limiting the guide post to shift in a length direction of the expansion frame.
4. The detachable underwater robot of claim 2, wherein the guide posts extend in the width direction of the robot body, and the clamping grooves for positioning the same guide post are arranged at intervals in the width direction of the expansion frame;
the guide posts are arranged at intervals along the length direction of the robot body, and the clamping grooves used for positioning different guide posts are arranged at intervals along the length direction of the expansion frame.
5. The detachable underwater robot of claim 1, wherein one of the robot body and the expansion frame is provided with a locking groove, and the other is provided with a locking clip, and the locking clip can be locked with the locking groove after the robot body and the expansion frame are docked in place, so that the robot body and the expansion frame are locked.
6. The detachable underwater robot of claim 5 wherein the locking clip comprises a stationary body, a handle, and a clasp, wherein: the fixed body is fixed on the expansion frame, the handle is rotationally connected with the fixed body, the handle is fixedly connected with the retaining ring, and when the retaining ring is clamped on the retaining groove, the robot body can be locked with the expansion frame by rotating the handle.
7. The detachable underwater robot of claim 1, further comprising a limiting plate, wherein the limiting plate is fixed on the expansion frame, and wherein the limiting plate abuts against the robot body to limit displacement of the robot body in the width direction of the expansion frame when the robot body abuts against the expansion frame in place.
8. The detachable underwater robot of claim 7, wherein the limiting plate is disposed at an edge side of the expansion frame and is used for abutting against a side wall of the robot body;
or, the limiting plate is positioned in the expansion frame, and the robot body is provided with a positioning block which is propped against the limiting plate.
9. The detachable underwater robot of claim 1, wherein the expansion frame comprises a mechanical arm expansion frame and a crawler expansion frame, and the mechanical arm expansion frame is provided with operation equipment; the crawler expansion frame is used for attaching to the wall or walking on the bottom.
10. The detachable underwater robot of claim 1, wherein a fixed floating material is arranged at the top of the robot body, and a reserved space is arranged at the bottom of the robot body and at the upper part of the expansion frame for installing a load floating block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310641708.4A CN116788477A (en) | 2023-06-01 | 2023-06-01 | Detachable underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310641708.4A CN116788477A (en) | 2023-06-01 | 2023-06-01 | Detachable underwater robot |
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| CN116788477A true CN116788477A (en) | 2023-09-22 |
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| CN202310641708.4A Pending CN116788477A (en) | 2023-06-01 | 2023-06-01 | Detachable underwater robot |
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| CN112124540A (en) * | 2020-10-13 | 2020-12-25 | 博雅工道（北京）机器人科技有限公司 | Extensible mounting device and underwater robot |
| CN214612550U (en) * | 2021-04-16 | 2021-11-05 | 苏州捷美电子有限公司 | Roller shaft connecting structure |
| CN113911300A (en) * | 2021-11-10 | 2022-01-11 | 深圳鳍源科技有限公司 | Make things convenient for quick assembly disassembly's buoyancy chassis and underwater robot |
| CN216916252U (en) * | 2022-03-04 | 2022-07-08 | 广西向海科技发展有限公司 | Quick hanging structure of underwater robot |
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