CN207860415U - A kind of microminiature underwater robot buoyancy regulating system - Google Patents
A kind of microminiature underwater robot buoyancy regulating system Download PDFInfo
- Publication number
- CN207860415U CN207860415U CN201721770466.5U CN201721770466U CN207860415U CN 207860415 U CN207860415 U CN 207860415U CN 201721770466 U CN201721770466 U CN 201721770466U CN 207860415 U CN207860415 U CN 207860415U
- Authority
- CN
- China
- Prior art keywords
- piston
- motor
- underwater robot
- potentiometer
- leading screw
- 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.)
- Withdrawn - After Issue
Links
- 230000001105 regulatory effect Effects 0.000 title claims abstract description 16
- 238000010276 construction Methods 0.000 claims description 10
- 238000007789 sealing Methods 0.000 claims description 8
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 229920000742 Cotton Polymers 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 15
- 238000007599 discharging Methods 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 abstract description 7
- 238000006073 displacement reaction Methods 0.000 abstract description 4
- 238000010521 absorption reaction Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000036544 posture Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000012535 impurity Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
Landscapes
- Transmission Devices (AREA)
Abstract
The utility model provides a kind of buoyancy regulating system of microminiature underwater robot, belong to underwater robot field, including buoyancy adjustment part and buoyancy leveling part, buoyancy adjustment part motor shaft is connected with pinion gear, pinion gear is engaged with gear wheel, and gear wheel is connected with leading screw, and leading screw is connected with piston, feed screw nut connects big banking stop and straight small potentiometer, and piston cylinder bottom head connects filter with pressure-measuring pipe；The feed screw nut of trim part spindle motor is connected with small banking stop, big potentiometer and trim lead.The beneficial effects of the utility model are：It can be moved by gear connection wire rod directly band piston using this mechanical regulative mode, it is compact-sized simple, water absorption and displacement can accurately be measured by small potentiometer, buoyancy adjustment is precisely controlled with reaching.Leveling part balances the variation of the posture caused by discharging water by the movement of leveling lead, to keep whole underwater robot posture unaffected.
Description
Technical field
The utility model is related to underwater robot technical fields more particularly to the buoyancy adjustment of microminiature underwater robot to lead
Domain.
Background technology
Unmanned untethered Autonomous Underwater aircraft (AUV) is a kind of can to make the underwater of autonomous navigation by the self-contained energy
Robot is the Main way of underwater robot development.And submerged buoyancy adjusting is a key points and difficulties of AUV development,
Currently, major part AUV does not change water environment the function of carrying out active adjusting, buoyancy changes and buoyancy change causes
Attitudes vibration be to overcome by manipulating tail vane or propeller and push, on the one hand aircraft is made to produce additional water in this way
Resistance or propeller power consumption are to increase energy consumption, and another party reduces effective control range of AUV control planes, in some cases
Under result even in the uncontrollable of AUV.By the research to underwater robot buoyancy regulating system can avoid well AUV according to
The problems such as additional water resistance or propeller power consumption being generated by manipulating tail vane or propeller promotion, and AUV is in marine resources
It explores, marine information data acquisition, military affairs are explored, and ocean rescue etc. has extremely wide application prospect.Buoyancy at present
Regulative mode：1, oil-pocket buoyancy adjusts 2, hydraulic system and plunger pump type 3, thermal gradient energy formula, and above several regulative modes are more
Complexity, and bulk occupies big, unsuitable microminiature underwater robot.
Invention content
The utility model provides a kind of microminiature underwater robot buoyancy regulating system, is adjusted using discharging water mode
Section, motor is moved by gear, leading screw directly band piston, simple and compact for structure, can be right additionally by DC potentiometer
Water absorption and displacement are accurately measured, and leveling part directly drives leveling lead to be moved forward and backward with lead screw motor, and
Leveling amount is accurately measured by DC potentiometer, to reach in the case where not changing AUV entirety postures to buoyancy
What is adjusted is precisely controlled.
In order to solve the above technical problems, the embodiment of the present application provides a kind of microminiature underwater robot buoyancy adjustment system
System, including buoyancy adjustment part and buoyancy leveling part, further include shell, motor, gear wheel, pinion gear, leading screw, leading screw spiral shell
Mother, thrust bearing, piston cylinder, piston-cylinder, piston, piston bush, piston cylinder bottom head, big banking stop, small potentiometer, pressure-measuring pipe,
Piezometer tube joint, filter, leveling lead, lead screw motor, minor leading screw nut, small banking stop, big potentiometer, the motor
Output shaft end cambered surface is equipped with the key being connect with pinion gear, and pinion gear center is equipped with axis hole, and axis hole is equipped with keyway, and motor is logical
It crosses key with pinion gear to be connected, for pinion gear with gear wheel by gear teeth meshing, gear wheel center is equipped with oval axis hole, ellipse with leading screw
Circular one end is connected, and feed screw nut is connected by screw thread with leading screw, and feed screw nut passes through in the big banking stop of screw bolt passes
Heart hole, card slot centre bore are connected with the connecting rod end of piston, and the connecting rod of piston is hollow-core construction, company of the screw set in piston
In the hollow-core construction of extension bar, small potentiometric slide plate is inserted in card slot to be connected with card slot, piston bottom cover, piston cylinder and piston-cylinder
It is sequentially connected by bolt, the end face of piston bottom cover is equipped with tapped through hole, screw thread and work of the piezometer tube joint by its end
It fills in bottom cover to be connected, piezometer tube joint is hollow-core construction, and piston bottom cover is connected by piezometer tube joint and pressure-measuring pipe with filter, silk
The output shaft of bar motor is equipped with passes through the screw thread and minor leading screw on its output shaft with the matched screw thread of minor leading screw nut, lead screw motor
Nut is connected, and leveling lead and small banking stop are sequentially connected by bolt and minor leading screw nut, and small banking stop center is equipped with
Limiting slot, the size of limiting slot and the size of big potentiometer slide plate match, and big potentiometric slide plate is inserted in limiting slot.
As the preferred embodiment of this programme, the motor is 42 stepper motors, and decelerating through motor ratio is 1:50.
As the preferred embodiment of this programme, the Major Diam 25mm of the leading screw, helical pitch 5mm.
As the preferred embodiment of this programme, the small current potential is calculated as 75mm and directly slides potentiometer, resistance 10k.
As the preferred embodiment of this programme, the piston is connected with piston bush by bolt, piston bush and piston cylinder
The side of set is equipped with sealing ring, and sealing ring is internal diameter 134mm, the O-ring of diameter of section 2.65mm.
As the preferred embodiment of this programme, the screw thread of the piezometer tube joint is M8X1.
As the preferred embodiment of this programme, the filter is metal mesh, carbon fiber, filtering successively from outside to inside
Yarn, filter cotton.
As the preferred embodiment of this programme, the lead screw motor is stepper motor, the output axle thread of lead screw motor
Greatly through 4.76mm, helical pitch 2mm.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages：
It is adjusted using discharging water mode, motor is moved by gear, leading screw directly band piston, simple in structure
It is compact, water absorption and displacement can accurately be measured additionally by small potentiometer, lead screw motor is directly used in leveling part
It drives leveling lead to be moved forward and backward, and leveling amount is accurately measured by big potentiometer, do not changing AUV to reach
Buoyancy adjustment is precisely controlled in the case of whole posture.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
Some embodiments of the utility model, for those of ordinary skill in the art, in the premise of not making the creative labor property
Under, other drawings may also be obtained based on these drawings.
Fig. 1 is the buoyancy adjustment structural schematic diagram of the embodiment of the present application；
Fig. 2 is the buoyancy adjustment structure auxiliary schematic diagram of the embodiment of the present application；
Fig. 3 is the leveling structure schematic diagram of the embodiment of the present application；
Fig. 4 is the piston structure schematic diagram of the embodiment of the present application；
In Fig. 1-Fig. 4：1, shell, 2, motor, 3, pinion gear, 4, gear wheel, 5, leading screw, 6, thrust bearing, 7, leading screw spiral shell
Mother, 8, piston, 9, piston bush, 10, piston cylinder, 11, piston-cylinder, 12, piston cylinder bottom head, 13, big banking stop, 14, small current potential
Meter, 15, pressure-measuring pipe, 16, piezometer tube joint, 17, filter, 18, leveling lead, 19, lead screw motor, 20, card slot, 21, sealing
Circle, 22, minor leading screw nut, 23, small banking stop, 24, big potentiometer.
Specific implementation mode
The utility model provides a kind of microminiature underwater robot buoyancy regulating system, is adjusted using discharging water mode
Section, motor is moved by gear, leading screw directly band piston, simple and compact for structure, can be to inhaling additionally by small potentiometer
Water and displacement are accurately measured, and leveling part directly drives leveling lead to be moved forward and backward with lead screw motor, and leads to
Excessive potentiometer accurately measures leveling amount, to reach in the case where not changing AUV entirety postures to buoyancy adjustment
Be precisely controlled.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
Technical solution is stated to be described in detail.
As Figure 1-Figure 4, a kind of microminiature underwater robot buoyancy regulating system, including buoyancy adjustment part and buoyancy
Leveling part further includes shell 1, motor 2, pinion gear 3, gear wheel 4, leading screw 5, thrust bearing 6, feed screw nut 7, piston 8, lives
Plug sleeve 9, piston cylinder 10, piston-cylinder 11, piston cylinder bottom head 12, big banking stop 13, small potentiometer 14, pressure-measuring pipe 15, pressure-measuring pipe
Connector 16, filter 17, leveling lead 18, lead screw motor 19, card slot 20, sealing ring 21, minor leading screw nut 22, small banking stop
23, big potentiometer 24, the output shaft end cambered surface of buoyancy adjustment part motor 2 are equipped with the key being connect with pinion gear 3, pinion gear
3 centers are equipped with axis hole, and axis hole is equipped with keyway, and motor 2 is connected by key with pinion gear 3, and pinion gear 3 passes through wheel with gear wheel 4
Tooth engagement, 4 center of gear wheel are equipped with oval axis hole, are connected with one end of 5 ellipse of leading screw, feed screw nut 7 by screw thread and
Leading screw 5 is connected, the connection that feed screw nut 7 passes through screw bolt passes big 13 centre bore of banking stop, card slot 20 centre bore and piston 8
Rod end head is connected, and the connecting rod of piston 8 is hollow-core construction, and leading screw 5 is sleeved in the hollow-core construction of the connecting rod of piston 8, small current potential
The slide plate of meter 14 is inserted in card slot 20 to be connected with card slot 20, piston bottom cover 12, piston cylinder 10 and piston-cylinder 11 by bolt according to
Secondary to be connected, the end face of piston bottom cover 12 is equipped with tapped through hole, the screw thread and piston bottom cover that piezometer tube joint 16 passes through its end
12 are connected, and piezometer tube joint 16 is hollow-core construction, and piston bottom cover 12 passes through piezometer tube joint 16 and pressure-measuring pipe 15 and filter 17
It is connected, the output shaft of buoyancy leveling part lead screw motor 19 is equipped with to be led to 22 matched screw thread of minor leading screw nut, lead screw motor 19
The screw thread crossed on its output shaft is connected with minor leading screw nut 22, and leveling lead 18 and small banking stop 23 pass through bolt and minor leading screw spiral shell
Mother 22 is sequentially connected, and 23 center of small banking stop is equipped with limiting slot, the size of the size of limiting slot and 24 slide plate of big potentiometer
Match, the slide plate of big potentiometer 24 is inserted in limiting slot.
Wherein, in practical applications, the motor 2 is 42 stepper motors, and 2 reduction ratio of motor is 1:50, lead to
The rotation for crossing motor 2 drives the rotation of pinion gear 3.
Wherein, in practical applications, the Major Diam 25mm of the leading screw 5, helical pitch 5mm, 5 torque of leading screw are sufficiently large.
Wherein, in practical applications, the bar of the piston 8 is hollow-core construction, and diameter is not less than 5 maximum gauge of leading screw,
It axially moves to make piston 8 be sleeved on leading screw 5, structure overall dimensions shorten, compacter.
Wherein, in practical applications, the piston 8 is connected with piston bush 9 by bolt, piston bush 9 and piston-cylinder
11 side is equipped with sealing ring 21, can play good sealing function.
Wherein, in practical applications, the size of the card slot and the size of 14 slide plate of small potentiometer match, to make
Feed screw nut 7 can only be moved in a straight line with piston 8, cannot be rotated.
Wherein, in practical applications, 14 slide plate of small potentiometer is inserted in card slot 20, by small potentiometer 14 to work
It fills in 8 amount of movements to measure, to accurately control the amount of discharging water, and then learns the regulated quantity of buoyancy.
Wherein, in practical applications, the filter 17 is metal mesh, carbon fiber, filtering yarn, mistake successively from outside to inside
Filter pulp can filter impurities in water, prevent impurity from being had an impact to degree of regulation.
Wherein, in practical applications, the minor leading screw spiral shell that the leveling lead 18 is worn by bolt and lead screw motor 19
Mother 22 is connected, and small banking stop 23 is housed between leveling lead 18 and minor leading screw nut 22.
Wherein, in practical applications, 23 center of small banking stop is equipped with limiting slot, the size of limiting slot with it is big
The size of 24 slide plate of potentiometer matches, and the slide plate of big potentiometer 24 is inserted in the card slot at 23 center of small banking stop, passes through big electricity
Position 24 pairs of 18 amount of movements of leveling lead of meter measure, and to accurately control amount of movement, keep AUV entirety attitude stabilizations
Operation principle：In use, driving pinion gear 3 to rotate by controlling 2 rotating speed of motor, pinion gear 3 is nibbled with gear wheel 4
It closes, gear wheel 4 is connected with leading screw 5, and to make leading screw 5 be rotated with the rotation of motor 2, leading screw 5 is connected with piston 8, leading screw spiral shell
The 7 big banking stop 13 of connection of mother and small potentiometer 14, big banking stop 13 limit the rotation of piston 8 to make piston 8 move in a straight line,
Discharging water is carried out, the amount of discharging water known to the electric signal exported by small potentiometer 14, and then carry out buoyancy adjustment, lead screw motor
19 drive minor leading screw nut 22 to move, and minor leading screw nut 22 is connected with small banking stop 23 and leveling lead 18, big potentiometer 24
Slide plate is inserted in the card slot at 23 center of small banking stop, keeps leveling lead 18 for linear motion, by big potentiometer 24 to leveling lead
18 amount of movement of block measures, and to accurately control amount of movement, balances the influence generated to AUV entirety postures by buoyancy adjustment,
Keep AUV entirety attitude stabilizations.
The above descriptions are merely preferred embodiments of the present invention, not makees in any form to the utility model
Limitation be not limited to the utility model although the utility model has been disclosed with preferred embodiment as above, it is any ripe
Professional and technical personnel is known, is not being departed within the scope of technical solutions of the utility model, when in the technology using the disclosure above
Hold the equivalent embodiment made a little change or be modified to equivalent variations, as long as being without departing from technical solutions of the utility model
Hold, any simple modification, equivalent change and modification made by the above technical examples according to the technical essence of the present invention, still
It is within the scope of the technical solutions of the present invention.
Claims (8)
1. a kind of microminiature underwater robot buoyancy regulating system, including buoyancy adjustment part and buoyancy leveling part, buoyancy tune
Section part includes shell (1), motor (2), pinion gear (3), gear wheel (4), leading screw (5), thrust bearing (6), feed screw nut
(7), piston (8), piston bush (9) piston cylinder (10), piston-cylinder (11), piston cylinder bottom head (12), big banking stop (13), small electricity
Position meter (14), pressure-measuring pipe (15), piezometer tube joint (16), filter (17), buoyancy leveling part includes leveling lead (18), silk
Bar motor (19), minor leading screw nut (22), small banking stop (23), big potentiometer (24), which is characterized in that the motor (2)
Output shaft end cambered surface be equipped with the key that connect with pinion gear (3), pinion gear (3) center is equipped with axis hole, and axis hole is equipped with key
Slot, motor (2) are connected by key with pinion gear (3), and pinion gear (3) and gear wheel (4) are by gear teeth meshing, in gear wheel (4)
The heart is equipped with oval axis hole, is connected with one end of leading screw (5) ellipse, and feed screw nut (7) is connected by screw thread with leading screw (5),
Feed screw nut (7) passes through the centre bore of the big banking stop of screw bolt passes (13) and the centre bore of card slot (20) and piston (8)
Connecting rod end is connected, and the connecting rod of piston (8) is hollow-core construction, and leading screw (5) is sleeved on the hollow-core construction of the connecting rod of piston (8)
Interior, the slide plate of small potentiometer (14) is inserted in card slot (20) to be connected with card slot (20), piston cylinder bottom head (12), piston cylinder (10) and
Piston-cylinder (11) is sequentially connected by bolt, and the end face of piston cylinder bottom head (12) is equipped with tapped through hole, piezometer tube joint
(16) it is connected with piston cylinder bottom head (12) by the screw thread of its end, piezometer tube joint (16) is hollow-core construction, piston cylinder bottom head
(12) be connected with filter (17) by piezometer tube joint (16) and pressure-measuring pipe (15), the output shaft of lead screw motor (19) be equipped with
Minor leading screw nut (22) matched screw thread, lead screw motor (19) pass through the screw thread and minor leading screw nut (22) phase on its output shaft
Even, leveling lead (18) and small banking stop (23) are sequentially connected by bolt and minor leading screw nut (22), in small banking stop (23)
Heart position is equipped with limiting slot, and the size of limiting slot and the size of big potentiometer (24) slide plate match, the cunning of big potentiometer (24)
Piece is inserted in limiting slot.
2. a kind of microminiature underwater robot buoyancy regulating system according to claim 1, which is characterized in that the electricity
Machine (2) is 42 stepper motors, and decelerating through motor ratio is 1:50.
3. a kind of microminiature underwater robot buoyancy regulating system according to claim 1, which is characterized in that the silk
The Major Diam 25mm of thick stick (5), helical pitch 5mm.
4. a kind of microminiature underwater robot buoyancy regulating system according to claim 1, which is characterized in that described is small
Potentiometer (14) is that 75mm directly slides potentiometer, resistance 10k.
5. a kind of microminiature underwater robot buoyancy regulating system according to claim 1, which is characterized in that the work
(8) to be filled in be connected by bolt with piston bush (9), piston bush (9) and the side of piston-cylinder (11) are equipped with sealing ring (21),
Sealing ring is internal diameter 134mm, the O-ring of diameter of section 2.65mm.
6. a kind of microminiature underwater robot buoyancy regulating system according to claim 1, which is characterized in that the survey
The screw thread of pressure pipe joint (16) is M8X1.
7. a kind of microminiature underwater robot buoyancy regulating system according to claim 1, which is characterized in that the mistake
Filter (17) is metal mesh, carbon fiber, filtering yarn, filter cotton successively from outside to inside.
8. a kind of microminiature underwater robot buoyancy regulating system according to claim 1, which is characterized in that the silk
Bar motor (19) is stepper motor, and the output axle thread of lead screw motor (19) is big through 4.76mm, helical pitch 2mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721770466.5U CN207860415U (en) | 2017-12-18 | 2017-12-18 | A kind of microminiature underwater robot buoyancy regulating system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721770466.5U CN207860415U (en) | 2017-12-18 | 2017-12-18 | A kind of microminiature underwater robot buoyancy regulating system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207860415U true CN207860415U (en) | 2018-09-14 |
Family
ID=63469540
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721770466.5U Withdrawn - After Issue CN207860415U (en) | 2017-12-18 | 2017-12-18 | A kind of microminiature underwater robot buoyancy regulating system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207860415U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107902058A (en) * | 2017-12-18 | 2018-04-13 | 天津瀚海蓝帆海洋科技有限公司 | A kind of microminiature underwater robot buoyancy regulating system |
-
2017
- 2017-12-18 CN CN201721770466.5U patent/CN207860415U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107902058A (en) * | 2017-12-18 | 2018-04-13 | 天津瀚海蓝帆海洋科技有限公司 | A kind of microminiature underwater robot buoyancy regulating system |
| CN107902058B (en) * | 2017-12-18 | 2024-03-08 | 天津瀚海蓝帆海洋科技有限公司 | Buoyancy adjusting system of microminiature underwater robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107902058A (en) | A kind of microminiature underwater robot buoyancy regulating system | |
| CN107104544B (en) | A kind of integrated electromechanical servo acting device of high power to weight ratio | |
| CN106005325A (en) | Microminiature biomimetic robot fish buoyancy adjusting device | |
| CN100482533C (en) | Underwater glider floatage control device | |
| CN207860415U (en) | A kind of microminiature underwater robot buoyancy regulating system | |
| CN103832564A (en) | Shuttle-shaped underwater glider design and control method | |
| CN110185422A (en) | A kind of novel cable-free type data double-way transmitting device of water injection well | |
| CN112660347B (en) | Energy-saving underwater glider | |
| CN105081437A (en) | Planetary gear transmission type A/C double-swing-angle milling head | |
| CN207554724U (en) | short underwater electric linear cylinder mechanism | |
| CN108116644A (en) | A kind of high-precision buoyancy regulating device for autonomous underwater robot | |
| CN2628239Y (en) | Bionic robot fish | |
| CN103496443A (en) | Buoyancy regulating system and method of underwater equipment | |
| CN106958554B (en) | Direct feedback digital wobble hydraulic cylinder is driven in a kind of | |
| CN110844032B (en) | Spherical water sports device with adjustable center of gravity of floating center | |
| CN109396540A (en) | The exciting broacher and its excitation parameter method of adjustment of cavity dynamic pressurization | |
| CN110155293A (en) | Ship's propeller electric power steering, ship's propeller and ships and light boats | |
| CN203236485U (en) | Triaxial stretchable multi-adaptation underwater robot | |
| CN109080801B (en) | Hybrid underwater glider based on tandem wing driving | |
| CN1480300A (en) | Pisciform biomimetic robot | |
| CN102476706B (en) | Steering device for underwater aerodone | |
| CN206770311U (en) | Direct feedback digital wobble hydraulic cylinder is driven in a kind of | |
| CN114084322B (en) | Planetary super-power spherical underwater robot | |
| CN214951224U (en) | Stay-supported displacement sensor | |
| CN203579662U (en) | Underwater electric manipulator wrist rotation and gripper driving structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180914 Effective date of abandoning: 20240308 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180914 Effective date of abandoning: 20240308 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |