CN207157467U - Frame-type underwater robot - Google Patents
Frame-type underwater robot Download PDFInfo
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- CN207157467U CN207157467U CN201720980542.9U CN201720980542U CN207157467U CN 207157467 U CN207157467 U CN 207157467U CN 201720980542 U CN201720980542 U CN 201720980542U CN 207157467 U CN207157467 U CN 207157467U
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Abstract
The utility model is specifically related to a kind of frame-type underwater robot, including main frame, moving cell, sealed compartment and battery compartment, main frame includes two side plates, a top plate and four pitmans, the biside plate being oppositely arranged surrounds rectangular frame by being fixedly connected with rod, and top plate is fixed on the upper edge of side plate long side；Moving cell includes two horizontal propellers and two vertical pushers, and sealed compartment is fixed in the middle part of main frame, including warehouse, transparent half ball cover and sealed compartment bonnet；Battery compartment has two, and the battery compartment being parallel to each other is vertically fixed on below the pitman of main frame bottom surface.Frame-type underwater robot of the present utility model uses lightweight and the high frame structure of reliability is main frame, required instrument component is reasonably assembled by modular combining form, the overall volume and quality of robot are effectively reduced, has simplified the volume and structure of robot；Externally fed can not be needed with self-powered with battery compartment, and security is higher.
Description
Technical field
The utility model belongs to underwater robot technical field, and in particular to a kind of frame-type underwater robot.
Background technology
China maritime waters aboundresources, either aquaculture or marine resources development are required to underwater operation, mesh
Before, underwater operation depends primarily on people and simple submersible, and complicated, dangerous underwater environment causes to the life security of people
Very big threat.Culture fishery has preferable development prospect, underwater operation is often needed in aquaculture, country is to marine resources
Exploitation dynamics continue to increase, marine resources development engineering increasingly increases, and submarine pipeline, cable etc. gradually increase, and this is with regard to necessary
Need a kind of new intelligentized machinery equipment and perform the lower job task in sea to replace people to go, underwater robot produces with regard to this.
The species of underwater robot is various, can be divided into military, industry, scientific investigation or exploration, lifesaving etc. by its purposes.Just
For its surface structure, there are monoblock type (also known as streamline) and two kinds of open-shelf (being also known as frame-type).As its name suggests, monoblock type knot
Structure is the most of instrument for being included underwater robot, equipment packages are in a kind of fairshaped housing；And tower structure
It is that above-mentioned device is packed on the framework (carrier) of a particular design respectively, it is allowed to which they are directly contacted with water.At present, state
The framework of inside and outside various frame-type underwater robots is difficult dismounting, bulky overall structure.Frame-type underwater robot
It can be widely applied to the multiple fields such as marine ecological investigation, ocean engineering, fishery cultivating, research and teaching.It is this that there is fixed knot
Structure and the underwater robot framework of size are typically all to be designed for certain special purpose, if the purposes of robot changes,
Original framework typically can not all use, and cause very big waste.Underwater robot type military at present is more, for army
Thing, the underwater robot general structure of development of resources are complicated, load diversified instrument and equipment, therefore, weight is larger, it is necessary to set
Special buoyancy compartment is put, structure is integrally complex, is not suitable for general civilian cultivation, pipe detection uses.
For problem above, China application CN200420063756.2 discloses a kind of combined frame knot of underwater robot
Structure, it is made up of basic building block and various annexes, basic building block connecting circular tube, elbow, threeway and the main frame of bolt assembling are length
Cube, annex including U-shaped further device, diplopore diameter parallel fixture, diplopore axis vertical take-off fixture, three holes can turn to fixture and
Disk clamp, threeway have a midsplit type structure, i.e., in the plane of two axially bored lines composition in be split into two halves, per on half all with convex
Edge, the bolt hole for processing connection above, all annexes also have midsplit type structure.This frame structure can use module
Formula is installed, therefore the structure of underwater robot can be adjusted flexibly, and when effectively prevent robot purposes change, original framework is not
Waste caused by being continuing with, but the chassis body of this frame structure is by a variety of separate components pipe, elbow and threeways
Composition, overall structure reliability, stability deficiency, bearing capacity are limited.
In consideration of it, the relatively reliable frame-type underwater robot of design structure is needed, to meet a variety of underwater operation needs,
It is the important topic in underwater robot exploitation.
In addition, most of underwater robot of in the market carries out externally fed, and the length of power transmission cable using power transmission cable
Distance connects makes troubles to the motion of underwater robot, and typically uses high-tension electricity, dangerous；Based on security and practicality
Property consideration, design carries the underwater robot of A-battery has weight for designing portable miniaturization underwater robot
Want meaning.
Utility model content
In order to solve bearing frame overall structure reliability, the stability of robot under domestic use of water present in prior art
Deficiency, the problem of bearing capacity finite sum needs externally fed, security and motoricity deficiency, the utility model provides a kind of frame
Posture underwater robot.The technical problems to be solved in the utility model is achieved through the following technical solutions：
A kind of frame-type underwater robot, including main frame, moving cell, sealed compartment and battery compartment, the main frame bag
Two side plates, a top plate and four pitmans are included, the side plate is the rectangular slab of subregion hollow out, two be oppositely arranged
Side plate surrounds rectangular frame by being fixed on the pitman at corner, and the top plate is fixed on the top edge of the side plate long side
Place, so as to form the top surface of rectangular frame；
The moving cell includes being fixed on two horizontal propellers of the rear end of main frame and is fixed in the middle part of main frame
Two vertical pushers, each horizontal propeller is separately fixed on a side plate by first support, each described vertical
Propeller is separately fixed on a side plate by first support；
The sealed compartment is fixed in the middle part of main frame, between two vertical pushers, and sealed compartment includes warehouse, transparent half
Ball cover and sealed compartment bonnet, warehouse are the cylinder being be arranged in parallel with side plate long side, and half ball cover and sealed compartment bonnet pass through one respectively
Individual annular gland is fixed on the front-end and back-end of warehouse；
The upper and lower side of each gland has symmetrical extension, has through hole on extension, the sealed compartment is by wearing
The bolt for crossing the through hole is separately fixed on four pitmans, to ensure the balance of sealed compartment and stably；
The battery compartment has two, and two to be parallel to each other battery compartment is vertically fixed under the pitman of main frame bottom surface
Side, battery compartment include the battery compartment cylinder and battery compartment bonnet of hemispherical battery compartment front end and hollow cylindrical, each battery
Storehouse is fixed on two pitmans by two second supports.
Further, in frame-type underwater robot described in the utility model, also pacify in half ball cover of the sealed compartment
Equipped with bidirectional camera shooting head, substrate is fixed with warehouse, the bidirectional camera shooting head is fixed on substrate by U-bracket；
Also there is circuit board, the circuit board is fixed on substrate in sealed compartment.
Further, in frame-type underwater robot described in the utility model, the front end of the main frame also includes two
Individual LED, each LED are fixed on a side plate by the 3rd support respectively.
Further, in frame-type underwater robot described in the utility model, the first support, second support and
Three supporting structures are identical, include the bearing of C-shaped bracket portion and rectangle, upper card including front band and lower catch hoop, the lower catch hoop
Hoop and C-shaped bracket portion symmetrical shape, collectively constitute the fixing hoop of annular, and the joint in front band and C-shaped bracket portion has phase
To the connection through hole of setting, by being fastened through the bolt of the connection through hole and adjusting fixing hoop；
The C-shaped bracket portion and bearing processing one, and the cross section of the connecting portion between C-shaped bracket portion and bearing is arc
Shape, to reduce resistance to water-flow；
The edge of the bearing has the holder through-hole for hold-down support.
Further, in frame-type underwater robot described in the utility model, covered after the sealed compartment be provided with it is more
Individual hollow screw, depth of water hydraulic pressure sensor is installed in one of them described hollow screw, remaining hollow screw power supply road connection
Line passes through；
The sealed compartment bonnet center also had cable aperture, and described cross in cable aperture is provided with for connection communication cable
Watertight connector.
Further, in frame-type underwater robot described in the utility model, the middle part installation of the battery compartment cylinder
There is battery, the battery compartment bonnet center has cable-through hole, and battery passes through the electric wire through cable-through hole and hollow screw and sealing
Circuit board electrical connection in cabin；
Circuit board in sealed compartment passes with horizontal propeller, vertical pusher, bidirectional camera shooting head, LED and depth of water hydraulic pressure
Sensor electrically connects, the operation of controlled level propeller, vertical pusher, bidirectional camera shooting head, LED and depth of water hydraulic pressure sensor.
Further, in frame-type underwater robot described in the utility model, the top surface centre of the top plate also has
There is handle.
The beneficial effects of the utility model：
Frame-type underwater robot of the present utility model can be used for underwater search, detection submarine pipeline and underwater culture, adopt
It is main frame with lightweight and the high frame structure of reliability, it is reasonable that required instrument component is carried out by modular combining form
Assembling, effectively reduce robot overall volume and quality；Sealed compartment and battery compartment play a part of buoyancy compartment simultaneously, therefore
One buoyancy compartment need not be specially set, further simplified the volume and structure of robot；In addition, the bottom of main frame is set
Symmetrical two battery compartments, the problem of can not only overcoming power transmission cable externally fed security deficiency, also improve robot
The flexibility of motion.
The utility model is described in further details below with reference to drawings and Examples.
Brief description of the drawings
Fig. 1 is the three-dimensional structure diagram of this frame-type underwater robot.
Fig. 2 is the main frame three-dimensional structure diagram of this frame-type underwater robot.
Fig. 3 is the part disassemblying structure stereogram of this frame-type underwater robot.
Fig. 4 is the front view (front end) of this frame-type underwater robot.
Fig. 5 is the upward view of this frame-type underwater robot.
Fig. 6 is the rearview (rear end) of this frame-type underwater robot.
Fig. 7 is the front view (front end) of the sealed compartment of this frame-type underwater robot.
Fig. 8 is the supporting structure schematic diagram of first support/second support/the 3rd of this frame-type underwater robot.
Fig. 9 is substrate, board structure of circuit schematic diagram in the sealed compartment of this frame-type underwater robot.
Figure 10 is the circuit diagram of the circuit board in the sealed compartment of this frame-type underwater robot.
In figure：1- main frames, 11- side plates, 12- top plates, 121- handles, 13- pitmans, 2- sealed compartments, 21- warehouses, 22-
Transparent half ball cover, 23- sealed compartments bonnet, 231- hollow screws, 232- depth of waters hydraulic pressure sensor, 233- cable aperture, 24- pressures
After lid, 25- extensions, 26- through holes, 27- substrates, 3- battery compartments, 31- battery compartments front end, 32- battery compartments cylinder, 33- battery compartments
Lid, 34- second supports, 35- cable-through holes, 4- horizontal propellers, 41- first supports, 5- vertical pushers, 6- bidirectional camera shootings head,
61-U shapes support, 7-LED lamps, the supports of 71- the 3rd, 81- front bands, 82-C shape clips portion, 83- bearings, 84- joints, 85- connections
Portion, 86- holder through-holes.
Embodiment
For the technological means and effect that the utility model is reached predetermined purpose and taken is expanded on further, below in conjunction with accompanying drawing
And embodiment describes in detail as follows to specific embodiment of the present utility model, architectural feature and its effect.
In description of the present utility model, it is to be understood that term " on ", " under ", "front", "rear", "left", "right",
The orientation or position relationship of the instruction such as " vertical ", " level ", " top ", " bottom ", " interior ", " outer " be based on orientation shown in the drawings or
Position relationship, it is for only for ease of description the utility model and simplifies description, rather than indicates or imply signified device or member
Part must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
Term " installation ", " connected ", " connection ", " setting " should be interpreted broadly, for example, it may be being fixedly connected, also may be used
To be to be detachably connected, or it is integrally connected；Can be mechanical connection or electrical connection；Can be joined directly together, also may be used
Can be the connection of two element internals to be indirectly connected by intermediary.For the ordinary skill in the art,
Concrete meaning of the above-mentioned term in the utility model can be understood by concrete condition.
Term " first ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicating or implying relatively important
Property or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", " second ", " the 3rd " feature can
To express or implicitly include one or more this feature.In description of the present utility model, " multiple " are meant that
Two or more, unless otherwise specifically defined.
Embodiment 1：
In order to solve bearing frame overall structure reliability, the stability of robot under domestic use of water present in prior art
Deficiency, the problem of bearing capacity finite sum needs externally fed, security and motoricity deficiency, the present embodiment provide a kind of such as Fig. 1
Frame-type underwater robot shown in~Fig. 5, it includes main frame 1, moving cell, sealed compartment 2 and battery compartment 3.Main frame 1 is
Aluminum alloy material, it has structure as shown in Figure 2, including two side plates, 11, top plates 12 and four pitmans 13, side plate
11 be the rectangular slab of subregion hollow out, and the biside plate 11 being oppositely arranged surrounds square by being fixed on the pitman 13 at corner
Shape framework, top plate 12 are fixed on the upper edge of the long side of side plate 11, so as to form the top surface of rectangular frame.The part hollow out of side plate 11
Resistance during robot motion can be effectively reduced, the shape of void region can be with arbitrarily devised, for the ease of processing, this reality
Apply and shape as in Figure 1 and Figure 2 is used in example.Connection stick end has a tapped blind hole, and corresponding position also has spiral shell on side plate
Pit, realized and fixed by the tapped blind hole on the screwed hole and pitman on screw bolt passes side plate.
Moving cell provides power for the motion of underwater robot so that robot under the control of remote control case
Around underwater free, move up and down.As shown in figure 3, moving cell specifically includes the rear end that is fixed on main frame 1
Two horizontal propellers 4 and two vertical pushers 5 for being fixed on the middle part of main frame 1, each horizontal propeller 4 pass through first support
41 are separately fixed on a side plate 11, and each vertical pusher 5 is separately fixed on a side plate 11 by first support 41.The
Annular fixing hoop in one support, the middle part of propeller is fixed on, to keep balancing.
Horizontal propeller and vertical pusher can select the commercially available propeller of same model, dive as needed depth
Degree, chooses the model of propeller, such as what is selected in the present embodiment is NS-W500CNX type underwater propellers.The propeller works
Voltage is DC-24V, can promote 30 meters~200 meters of robot dive, it is possible to provide positive thrust 5kg, propulsive thrust 3.5kg, so as to band
Mobile robot advances or retreated.
As shown in figure 5, sealed compartment 2 is made using cylindric acrylic pipe, its be fixed on the middle part of main frame 1, two it is vertical
Between propeller 5, sealed compartment is arranged on the middle position of whole main frame, can preferably keep the overall balance of robot.
Specifically, sealed compartment 2 includes warehouse 21, transparent half ball cover 22 and sealed compartment bonnet 23, and warehouse 21 is and the long side of side plate 11
The cylinder for the acrylic material be arrangeding in parallel, half ball cover 22 and sealed compartment bonnet 23 are fixed by an annular gland 24 respectively
In the front-end and back-end of warehouse 21.It is additionally provided with to increase the sealing of sealed compartment between sealed compartment bonnet 23 and warehouse 21
One flange, static seal is carried out by sealing gasket between flange and sealed compartment bonnet 23 and warehouse 21, further improved with this close
Feng Xing.
As shown in Fig. 6~Fig. 7, multiple hollow screws 231, one of hollow screw are installed on sealed compartment bonnet 23
Depth of water hydraulic pressure sensor 232 is installed, remaining hollow screw 231 passes through for circuit connecting wire in 231；The center of sealed compartment bonnet 23
Also there is cable aperture 233, cross in cable aperture 233 watertight connector being provided with for connection communication cable.Depth of water hydraulic pressure senses
Device, various types of depth of water hydraulic pressure sensors commonly used in the art can be used, what is selected in the present embodiment is that MS5837 types pass
Sensor, the sensor are high-resolution I2C interface pressure sensors, and high-precision water-depth measurement, water-depth measurement resolution ratio can be achieved
Up to 2mm.
Bidirectional camera shooting first 6 is also equipped with half ball cover 22 of sealed compartment 2, substrate 27, bidirectional camera shooting are fixed with warehouse 21
First 6 are fixed on substrate 27 by U-bracket 61；Also there is circuit board, circuit board is fixed on substrate 27 in sealed compartment 2.Base
Plate uses this area usual manner, is fixed on L bracket in sealed compartment warehouse.Be additionally provided with inside sealed compartment one it is warm and humid
Sensor is spent, for detecting the humiture in sealed compartment, so that operator hits the state of my sealed compartment at any time.
Controller and control circuit on circuit board can be communicated by communication cable with manipulation case on the bank, according to finger
Control machine people is made to carry out underwater operation.The mounting structure of circuit board and substrate in sealed compartment is as shown in figure 9, on circuit board
Control circuit uses available circuit module, and physical circuit figure is as shown in Figure 10.
The upper and lower side of the gland 24 at forward and backward both ends has symmetrical two extensions 25, has through hole on extension 25
26, sealed compartment 2 by being separately fixed at through the bolt of the through hole 26 on four pitmans 13, with ensure the balance of sealed compartment and
It is stable.
As seen in figures 3-5, battery compartment 3 has two, and two to be parallel to each other battery compartment 3 is vertically fixed on the bottom of main frame 1
The lower section of pitman 13 in face, battery compartment 3 include the He of battery compartment cylinder 32 of hemispherical battery compartment front end 31 and hollow cylindrical
Battery compartment bonnet 33, each battery compartment 3 are fixed on two pitmans 13 by two second supports 34.The He of battery compartment front end 31
The battery compartment cylinder of hollow cylindrical is that integration is process, and can be acrylic tubing or the aluminium alloy using lightweight
Tubing makes, battery compartment Front-end Design into it is hemispherical can reduce advance when resistance to water-flow.For the ease of changing battery, battery
It is to be removably threadedly coupled between storehouse bonnet and battery compartment cylinder, increases sealing gasket, improves reliability and sealing.
The middle part of battery compartment cylinder 32 is provided with battery, and the center of battery compartment bonnet 33 has cable-through hole 35, and battery is by wearing
Cross the electric wire of cable-through hole 35 and hollow screw 231 and the circuit board electrical connection in sealed compartment 2；Circuit board and water in sealed compartment 2
Flat propeller 4, vertical pusher 5, bidirectional camera shooting are first 6, LED 7 and depth of water hydraulic pressure sensor 232 electrically connect, and controlled level pushes away
Enter the operation of device 4, vertical pusher 5, bidirectional camera shooting first 6, LED 7 and depth of water hydraulic pressure sensor 232.
As shown in figure 3, the front end of main frame 1 also includes two LEDs 7, each LED 7 passes through the 3rd support respectively
71 are fixed on a side plate 11.When certain depth carries out operation under water, insufficient light, in order to ensure the shadow of bidirectional camera shooting head
Ringing collection needs LED to provide sufficient light.LED herein can choose the underwater of various models commonly used in the art
LED, as used in the present embodiment be ROVMAKER underwater luminaire, can be used under 100 meters of hydraulic pressure under water,
Sufficient light is provided.Operating voltage 8~35V of DC, power 15W, brightness：1500lumens, PWM scope：1100-1900μs；
The LED lamp life-span：5000h.
First support 41, second support 34 are identical with the structure of the 3rd support 71, are respectively provided with structure as shown in Figure 8, specifically
Including front band 81 and lower catch hoop, lower catch hoop includes the bearing 83 of C-shaped bracket portion 82 and rectangle, front band 81 and C-shaped bracket portion
82 symmetrical shapes, the fixing hoop of annular is collectively constituted, has at the joint 84 in front band 81 and C-shaped bracket portion 82 and is oppositely arranged
Connection through hole, by being fastened through the bolt of the connection through hole and adjusting fixing hoop；C-shaped bracket portion 82 and bearing 83 are processed
One, and the cross section of the connecting portion 85 between C-shaped bracket portion 82 and bearing 83 is arc, to reduce resistance to water-flow；Bearing 83
Edge have for hold-down support holder through-hole 86.
For the ease of carrying, also there is handle 121 in the top surface centre of top plate 12.
Above content is to combine specific preferred embodiment further detailed description of the utility model, it is impossible to
Assert that specific implementation of the present utility model is confined to these explanations.For the ordinary skill of the utility model art
For personnel, without departing from the concept of the premise utility, some simple deduction or replace can also be made, should all be regarded
To belong to the scope of protection of the utility model.
Claims (7)
1. a kind of frame-type underwater robot, it is characterised in that including main frame (1), moving cell, sealed compartment (2) and battery
Storehouse (3), the main frame (1) include two side plates (11), a top plate (12) and four pitmans (13), the side plate (11)
For the rectangular slab of subregion hollow out, the biside plate being oppositely arranged (11) is surrounded by being fixed on the pitman (13) at corner
Rectangular frame, the top plate (12) are fixed on the upper edge of the side plate (11) long side, so as to form the top surface of rectangular frame；
The moving cell includes being fixed on two horizontal propellers (4) of the rear end of main frame (1) and is fixed on main frame (1)
Two vertical pushers (5) at middle part, each horizontal propeller (4) are separately fixed at a side plate by first support (41)
(11) on, each vertical pusher (5) is separately fixed on a side plate (11) by first support (41)；
The sealed compartment (2) is fixed in the middle part of main frame (1), between two vertical pushers (5), and sealed compartment (2) includes warehouse
(21), transparent half ball cover (22) and sealed compartment bonnet (23), warehouse (21) are the cylinder being be arranged in parallel with side plate (11) long side,
Half ball cover (22) and sealed compartment bonnet (23) are fixed on the front end of warehouse (21) with after by an annular gland (24) respectively
End；
The upper and lower side of each gland (24) has symmetrical extension (25), has through hole (26) on extension (25), described
Sealed compartment (2) through the bolt of the through hole (26) by being separately fixed on four pitmans (13), to ensure the flat of sealed compartment
Weighing apparatus and stably；
The battery compartment (3) has two, and two to be parallel to each other battery compartment (3) is vertically fixed on the company of main frame (1) bottom surface
Take over the baton below (13), battery compartment (3) includes the battery compartment cylinder (32) of hemispherical battery compartment front end (31) and hollow cylindrical
With battery compartment bonnet (33), each battery compartment (3) is fixed on two pitmans (13) by two second supports (34).
2. frame-type underwater robot according to claim 1, it is characterised in that half ball cover of the sealed compartment (2)
(22) bidirectional camera shooting head (6) is also equipped with, substrate (27) is fixed with warehouse (21), the bidirectional camera shooting head (6) passes through U-shaped
Support (61) is fixed on substrate (27)；
Also there is circuit board, the circuit board is fixed on substrate (27) in sealed compartment (2).
3. frame-type underwater robot according to claim 2, it is characterised in that also wrap the front end of the main frame (1)
Two LEDs (7) are included, each LED (7) is fixed on a side plate (11) by the 3rd support (71) respectively.
4. frame-type underwater robot according to claim 3, it is characterised in that the first support (41), second
Frame (34) is identical with the 3rd support (71) structure, includes C-shaped bracket portion including front band (81) and lower catch hoop, the lower catch hoop
(82) and rectangle bearing (83), front band (81) and C-shaped bracket portion (82) symmetrical shape, collectively constitute the fixing card of annular
Hoop, joint (84) places of front band (81) and C-shaped bracket portion (82) is with the connection through hole being oppositely arranged, by through the connection
The bolt of through hole fastens and adjusts fixing hoop；
The C-shaped bracket portion (82) and bearing (83) processing one, and the connecting portion between C-shaped bracket portion (82) and bearing (83)
(85) cross section is arc, to reduce resistance to water-flow；
The edge of the bearing (83) has the holder through-hole (86) for hold-down support.
5. frame-type underwater robot according to claim 4, it is characterised in that installed on the sealed compartment bonnet (23)
There are multiple hollow screws (231), depth of water hydraulic pressure sensor (232) is installed in one of them described hollow screw (231), remaining
Hollow screw (231) passes through for circuit connecting wire；
Sealed compartment bonnet (23) center also had cable aperture (233), and described cross in cable aperture (233) is provided with for connecting
Connect the watertight connector of communication cable.
6. frame-type underwater robot according to claim 5, it is characterised in that the middle part of the battery compartment cylinder (32)
Battery is installed, battery compartment bonnet (33) center has a cable-through hole (35), and battery is by through cable-through hole (35) and hollow
The electric wire of screw (231) and the circuit board electrical connection in sealed compartment (2)；
Circuit board in sealed compartment (2) and horizontal propeller (4), vertical pusher (5), bidirectional camera shooting head (6), LED (7) and
Depth of water hydraulic pressure sensor (232) electrically connects, controlled level propeller (4), vertical pusher (5), bidirectional camera shooting head (6), LED
(7) and depth of water hydraulic pressure sensor (232) operation.
7. frame-type underwater robot according to claim 1, it is characterised in that the top surface centre of the top plate (12)
Also there is handle (121).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720980542.9U CN207157467U (en) | 2017-08-07 | 2017-08-07 | Frame-type underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720980542.9U CN207157467U (en) | 2017-08-07 | 2017-08-07 | Frame-type underwater robot |
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| CN207157467U true CN207157467U (en) | 2018-03-30 |
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ID=61716257
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| CN201720980542.9U Expired - Fee Related CN207157467U (en) | 2017-08-07 | 2017-08-07 | Frame-type underwater robot |
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