CN213384667U - Underwater robot moving bearing platform - Google Patents
Underwater robot moving bearing platform Download PDFInfo
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- CN213384667U CN213384667U CN202022439725.4U CN202022439725U CN213384667U CN 213384667 U CN213384667 U CN 213384667U CN 202022439725 U CN202022439725 U CN 202022439725U CN 213384667 U CN213384667 U CN 213384667U
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Abstract
The utility model discloses underwater robot removes load-bearing platform relates to underwater mobile platform technical field, especially relates to a moving platform who is used for bearing robot under water. The installation clapboard of the utility model is horizontally arranged in the middle position inside the outer shell; the upper part of the outer shell is provided with a floating and sinking device mounting cavity; the floating and sinking device is arranged in the mounting cavity of the floating and sinking device and is fixedly sealed in the outer shell through the upper cover plate; the image acquisition and storage system is arranged on the mounting partition plate and is positioned at the front end of the outer shell; the lighting device is fixedly arranged at the front end of the outer shell; the circuit control system and the power supply system are fixedly arranged on the mounting partition plate; the mobile device is arranged outside the outer shell and on the installation clapboard; the floating and sinking device, the image acquisition and storage system, the illuminating device, the circuit control system, the power supply system and the mobile device are connected through a lead to form a complete circuit system; and the upper cover plate is provided with a mechanical arm mounting and driving mechanism for mounting a mechanical arm.
Description
Technical Field
The utility model discloses underwater robot removes load-bearing platform relates to underwater mobile platform technical field, especially relates to a moving platform who is used for bearing robot under water.
Background
At present, a walking system of a moving platform of an underwater robot mainly has a crawler type, a walking type and a propeller propelling type, and the three moving platforms respectively have certain defects, wherein:
1. crawler-type moving platform: images cannot be stably obtained in rugged sections, and the reachable places and the environment requirements are also strict;
2. a walking type mobile platform: the mechanical structure is complex, the mechanical structure is easy to damage and not easy to maintain, the power consumption is large, and the requirement on the environment is high;
3. propeller-propelled mobile platform: most of the propellers are provided with one pair or two pairs of propellers capable of rotating at different angles, and although the propellers can rotate at different angles to move in multiple directions, the propellers are larger in power supply to the whole robot, so that fine adjustment cannot be achieved, controllability is poor, the whole size is increased, and power consumption is larger.
The crawler-type mobile platform and the walking-type mobile platform need to be placed under water or taken out of water by means of external equipment, so that the cost investment of auxiliary equipment is increased; the propeller-propelled mobile platform can be lifted in water by means of the thrust of the propeller, but enough thrust is needed, namely the power of the propeller is enough, so that the size of the propeller is increased, the whole size of the platform is caused, and the power consumption is overlarge.
Aiming at the problems in the prior art, a novel underwater robot moving bearing platform is researched and designed, so that the problems in the prior art are very necessary to overcome.
Disclosure of Invention
The existing underwater mobile bearing platform proposed according to the prior art has higher requirements on the terrain environment; the mechanical structure is damaged, and the maintenance difficulty is high; the position fine adjustment is difficult to realize, and the controllability is poor; auxiliary lifting of external equipment is required; the mobile bearing platform of the underwater robot has the technical problems of overlarge volume, overlarge power consumption and the like. The utility model discloses mainly utilize to set up in the different adjustment direction's of three groups screw pair mobile scale of different positions to carry out position removal and adjustment at the platform to and the setting is supplementary the screw in the inside device that floats of platform goes up and down the platform supplementary.
The utility model discloses a technical means as follows:
an underwater robot mobile load-bearing platform comprising: the device comprises a platform shell, a lighting device, a circuit control system, an electric power supply system, an image acquisition and storage system, a mobile device and a floating and sinking device;
further, the platform housing includes: the device comprises an outer shell, a mounting partition plate, a floating and sinking device mounting cavity and an upper cover plate; the mounting partition plate is horizontally arranged in the middle of the inner part of the outer shell; the upper part of the outer shell is provided with a floating and sinking device mounting cavity; the floating and sinking device is arranged in the mounting cavity of the floating and sinking device and is fixedly sealed in the outer shell through the upper cover plate;
furthermore, the image acquisition and storage system is arranged on the installation clapboard and is positioned at the front end of the outer shell;
furthermore, the lighting device is fixedly arranged at the front end of the outer shell;
furthermore, the circuit control system is fixedly arranged on the mounting partition plate;
further, the power supply system is fixedly arranged on the mounting partition plate;
further, the mobile device is arranged outside the outer shell and on the installation partition plate;
furthermore, the floating and sinking device, the image acquisition and storage system, the lighting device, the circuit control system, the power supply system and the mobile device are connected through a lead to form a complete circuit system, and the circuit control system is used for controlling the operation of each device and system;
further, a mechanical arm mounting driving mechanism is arranged on the upper cover plate and used for mounting a mechanical arm;
furthermore, the mechanical arm is provided with a plurality of freedom degree movable structures, is arranged at the upper part of the platform shell and is connected with the circuit control system and the power supply system through a circuit.
Further, the image acquisition and storage system comprises: a camera device and a storage device;
furthermore, the camera device is arranged at the front part of the outer shell and is positioned beside the lighting device;
further, the storage device is mounted on the mounting partition plate and connected with the image pickup device, the circuit control system and the power supply system through wires.
Further, the mobile device includes: the propeller comprises two thrust propellers, two vertical propellers, two propulsion propellers, six propeller motors and two steering engines;
furthermore, the two thrust propellers are respectively arranged at two sides of the front part of the outer shell and are respectively connected with the output ends of the two propeller motors arranged on the mounting partition plate at the rear part of the outer shell, and the two thrust propellers rotate forwards and backwards under the driving of the propeller motors to realize the forward power assistance and the locking balance;
furthermore, the two vertical propellers are respectively arranged in the middle positions of the two sides of the outer shell and respectively connected with the output ends of the two propeller motors arranged on the two sides of the middle of the mounting partition plate, and are driven by the propeller motors to rotate forwards and backwards so as to realize the power output of ascending and descending;
furthermore, the two propelling propellers are respectively arranged at the lower parts of the mounting brackets at the two sides of the rear part of the outer shell, are respectively connected with the output ends of the two propeller motors arranged at the rear part of the mounting partition plate, and rotate forward and backward under the driving of the propeller motors, so that the output of advancing power and stopping power assistance are realized;
furthermore, two steering engines are respectively arranged on the upper parts of the mounting supports on the two sides of the rear part of the outer shell and are respectively connected with the two propelling propellers, so that the propelling propellers are ensured to swing left and right under the driving of the steering engines, and the steering power for the underwater robot to move the bearing platform is provided.
Further, the sink-float device includes: a water storage chamber and a compressed gas tank;
furthermore, the water storage chamber and the compressed gas tank are arranged in the floating and sinking device mounting cavity together;
furthermore, the lower part of one side wall of the water storage chamber is provided with a water inlet valve and a water discharge valve which are fixedly arranged on the wall of the outer shell and communicated with the outside;
furthermore, the water inlet valve and the water discharge valve are connected with a circuit control system through lines, and water storage and water discharge are carried out under the control of the circuit control system;
further, an air outlet valve of the compressed air tank is communicated with an air inlet of the water storage chamber and is connected with the circuit control system through a line, the water storage chamber is inflated under the control of the circuit control system, and water in the water storage chamber is discharged from a drain valve at the lower part;
furthermore, an air inlet valve of the compressed air tank is fixedly arranged on the wall of the outer shell and used for connecting external air supply equipment to supply air to the compressed air tank.
Furthermore, a closed semicircular transparent cover body is arranged at the front end of the outer shell and used for sealing the lighting device and the camera device.
The utility model discloses a use-way does:
when sinking is needed: the vertical propeller rotates to generate downward thrust, and meanwhile, a water inlet valve of the water storage chamber is controlled to be opened by the circuit control system to be filled with seawater, so that the gravity of the mobile bearing platform is increased, the sinking is assisted, and the sinking of the mobile bearing platform is realized;
when the progress is needed: the propelling propeller arranged at the rear part of the movable bearing platform rotates to provide forward thrust for the movable bearing platform, so that the movable bearing platform moves forward; when the steering is needed, the two steering engines drive the propulsion propeller to rotate, so that the steering of the movable bearing platform is realized;
when stopping is needed: when the propulsion propeller stops, the thrust propeller at the front part of the movable bearing platform is started to give a reverse thrust to offset the forward inertia force of the movable bearing platform, so that the movable bearing platform is stopped;
when the position needs to be adjusted: according to the moving direction required, the propulsion propeller, the thrust propeller and the vertical propeller are controlled to carry out micro-adjustment on the positions together;
when the need arises: the vertical propeller is reversely started to provide an upward thrust for the movable bearing platform; meanwhile, the circuit control system controls an air outlet valve of the compressed air tank to flush high-pressure air into the water storage chamber through an air inlet of the water storage chamber, and simultaneously opens an water outlet valve of the water storage chamber to discharge seawater in the water storage chamber out of the water storage chamber, and the floating speed and floating force are controlled by the amount of the flushed air, so that the auxiliary lifting of the movable bearing platform is realized;
after the work is finished, the water storage chamber is required to be completely supplied with air to discharge the seawater, and the compressed air tank is simultaneously inflated for the next use.
Compared with the prior art, the utility model has the advantages of it is following:
1. the underwater robot moving bearing platform provided by the utility model uses the propeller propulsion structure, is more flexible and easy to control than a walking type and a crawler type, has less requirement on the environment, can stably shoot images, and is difficult to damage and convenient to maintain;
2. the underwater robot moving bearing platform provided by the utility model has three pairs of low-power propellers, which not only reduces the volume, but also reduces the power consumption, and meanwhile, the propellers can realize fine adjustment in water, thus realizing accurate control;
3. the utility model provides an underwater robot removes load-bearing platform, every screw can all control alone to can make up at will, both guaranteed can export sufficient thrust, the power saving that again can be accurate. Meanwhile, the propeller with the rotatable tail part can realize difficult actions such as in-situ rotation and the like;
4. the underwater robot moving bearing platform provided by the utility model has the preposed thrust propeller, and can realize speed reduction and reduce energy consumption without changing the direction of the propeller or reversing after the propeller decelerates;
5. the utility model provides an underwater robot removes load-bearing platform, possess the device that sinks that floats of increase and decrease buoyancy to change the dead weight and assist and sink or rise, do not need big thrust screw or external equipment to sink or go up to float, in order to reach the purpose of practicing thrift space and energy consumption.
In conclusion, the technical scheme of the utility model solves the problem that the existing underwater mobile bearing platform has higher requirements on the terrain environment; the mechanical structure is damaged, and the maintenance difficulty is high; the position fine adjustment is difficult to realize, and the controllability is poor; auxiliary lifting of external equipment is required; too large volume, too large power consumption and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a perspective view of the present invention;
fig. 2 is a sectional view of the present invention;
fig. 3 is a schematic structural view of the floating and sinking device of the present invention.
In the figure: 1. the device comprises a platform shell 11, an upper cover plate 12, a floating and sinking device mounting cavity 13, an outer shell 14, a mounting partition plate 2, a lighting device 3, a circuit control system 4, an electric power supply system 5, a mechanical arm mounting and driving mechanism 6, a mechanical arm 7, an image acquisition and storage system 71, a camera device 72, a storage device 8, a moving device 81, a thrust propeller 82, a vertical propeller 83, a propulsion propeller 84, a propeller motor 85, a steering engine 9, a floating and sinking device 91, a water storage chamber 911, a water inlet valve 912, a water discharge valve 913, a gas inlet 92, a compression gas tank 921, a gas outlet valve 922 and a gas inlet valve.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a contrary explanation, these orientation words do not indicate and imply that the device or element in question must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and if not stated otherwise, the terms have no special meaning, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1-2, the utility model provides an underwater robot removes load-bearing platform includes: the system comprises a platform shell 1, a lighting device 2, a circuit control system 3, a power supply system 4, an image acquisition and storage system 7, a moving device 8 and a floating and sinking device 9; the platform housing 1 includes: the device comprises an outer shell 13, a mounting partition plate 14, a floating and sinking device mounting cavity 12 and an upper cover plate 11; the mounting partition plate 14 is horizontally arranged in the middle of the inner part of the outer shell 13; the upper part of the outer shell 13 is provided with a floating and sinking device mounting cavity 12; the floating and sinking device installation cavity 12 is internally provided with a floating and sinking device 9 which is fixedly sealed in the outer shell 13 through an upper cover plate 11; the image acquisition and storage system 7 is arranged on the mounting partition plate 14 and is positioned at the front end of the outer shell 13; the lighting device 2 is fixedly arranged at the front end of the outer shell 13; the circuit control system 3 is fixedly arranged on the mounting partition plate 14; the power supply system 4 is fixedly arranged on the installation partition plate 14; the mobile device 8 is arranged outside the outer shell 13 and on the mounting partition 14; the floating and sinking device 9, the image acquisition and storage system 7, the lighting device, the circuit control system 3, the power supply system 4 and the mobile device 8 are connected through leads to form a complete circuit system, and the circuit control system 3 controls the operation of each device and system; the upper cover plate 11 is provided with a mechanical arm mounting and driving mechanism 5 for mounting a mechanical arm 6; the robot arm 6 has a multi-degree-of-freedom movable structure, is mounted on the upper portion of the platform housing 1, and is connected to the circuit control system 3 and the power supply system 4 through a line.
As shown in fig. 2, the image acquisition and storage system 7 includes: an image pickup device 71 and a storage device 72; the camera device 71 is arranged at the front part of the outer shell 13 and is positioned beside the lighting device 2; the storage device 72 is attached to the mounting partition 14, and is connected to the image pickup device 71, the circuit control system 3, and the power supply system 4 by wires.
As shown in fig. 1-2, the moving device 8 includes: two thrust propellers 81, two vertical propellers 82, two propulsion propellers 83, six propeller motors 84, and two steering engines 85; the two thrust propellers 81 are respectively arranged at two sides of the front part of the outer shell 13, are respectively connected with the output ends of two propeller motors 84 arranged on the mounting partition plate 14 at the rear part of the thrust propellers 81, and rotate forwards and backwards under the driving of the propeller motors 84 to realize the forward power assistance and the stop balance; the two vertical propellers 82 are respectively arranged at the middle positions of the two sides of the outer shell 13, are respectively connected with the output ends of the two propeller motors 84 arranged at the two sides of the middle of the mounting clapboard 14, and rotate forwards and backwards under the driving of the propeller motors 84 to realize the power output of ascending and descending; the two propulsion propellers 83 are respectively arranged at the lower parts of the mounting brackets at the two sides of the rear part of the outer shell 13, are respectively connected with the output ends of the two propeller motors 84 arranged at the rear part of the mounting clapboard 14, and rotate forward and backward under the driving of the propeller motors 84 to realize the output of forward power and stop power assistance; two steering engines 85 are respectively arranged on the upper parts of the mounting brackets on the two sides of the rear part of the outer shell 13 and are respectively connected with two propulsion propellers 83, so that the propulsion propellers 83 are ensured to swing left and right under the driving of the steering engines 85, and the steering power for moving the bearing platform of the underwater robot is provided.
As shown in fig. 2 to 3, the floating-sinking apparatus 9 includes: a reservoir 91 and a compressed gas tank 92; the water storage chamber 91 and the compressed gas tank 92 are arranged in the floating and sinking device mounting cavity 12 together; a water inlet valve 911 and a water discharge valve 912 are arranged at the lower part of one side wall of the water storage chamber 91 and are fixedly arranged on the wall of the outer shell 13 and communicated with the outside; the water inlet valve 911 and the water discharge valve 912 are connected with the circuit control system 3 through lines, and water storage and water discharge are carried out under the control of the circuit control system 3; the air outlet valve 921 of the compressed air tank 92 is communicated with the air inlet 913 of the water storage chamber 91 and is connected with the circuit control system 3 through a line, the water storage chamber 91 is inflated under the control of the circuit control system 3, and water in the water storage chamber 91 is discharged from the drain valve 912 at the lower part; an air inlet valve 922 of the compressed air tank 92 is fixedly arranged on the wall of the outer shell 13 and is used for connecting external air supply equipment to supply air to the compressed air tank 92.
As shown in fig. 2, a sealed semicircular transparent cover is disposed at the front end of the outer casing 13 to enclose the lighting device 2 and the camera device 71 therein.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (5)
1. The utility model provides an underwater robot removes load-bearing platform which characterized in that, underwater robot remove load-bearing platform include: the device comprises a platform shell (1), a lighting device (2), a circuit control system (3), a power supply system (4), an image acquisition and storage system (7), a moving device (8) and a floating and sinking device (9);
the platform housing (1) comprises: the device comprises an outer shell (13), a mounting partition plate (14), a floating and sinking device mounting cavity (12) and an upper cover plate (11); the mounting partition plate (14) is horizontally arranged in the middle of the inner part of the outer shell (13); the upper part of the outer shell (13) is provided with a floating and sinking device mounting cavity (12); the floating and sinking device installation cavity (12) is internally provided with a floating and sinking device (9) which is fixedly sealed in the outer shell (13) through an upper cover plate (11);
the image acquisition and storage system (7) is arranged on the mounting partition plate (14) and is positioned at the front end of the outer shell (13);
the lighting device (2) is fixedly arranged at the front end of the outer shell (13);
the circuit control system (3) is fixedly arranged on the mounting partition plate (14);
the power supply system (4) is fixedly arranged on the mounting partition plate (14);
the moving device (8) is arranged outside the outer shell (13) and on the mounting partition plate (14);
the floating and sinking device (9), the image acquisition and storage system (7), the lighting device, the circuit control system (3), the power supply system (4) and the mobile device (8) are connected through leads to form a complete circuit system, and the circuit control system (3) is used for controlling the operation of each device and system;
a mechanical arm mounting and driving mechanism (5) is arranged on the upper cover plate (11) and used for mounting a mechanical arm (6);
the mechanical arm (6) is provided with a plurality of freedom degree moving structures, is arranged at the upper part of the platform shell (1), and is connected with the circuit control system (3) and the power supply system (4) through a circuit.
2. The underwater robotic mobile load-bearing platform of claim 1, wherein said image acquisition and storage system (7) comprises: an image pickup device (71) and a storage device (72);
the camera device (71) is arranged at the front part of the outer shell (13) and is positioned beside the lighting device (2);
the storage device (72) is arranged on the installation partition plate (14) and is connected with the camera device (71), the circuit control system (3) and the power supply system (4) through leads.
3. The underwater robotic mobile load-bearing platform of claim 1, wherein said moving means (8) comprise: the propeller comprises two thrust propellers (81), two vertical propellers (82), two propulsion propellers (83), six propeller motors (84) and two steering engines (85);
the two thrust propellers (81) are respectively arranged on two sides of the front part of the outer shell (13), are respectively connected with the output ends of two propeller motors (84) arranged on the mounting partition plate (14) at the rear part of the outer shell, and rotate forwards and backwards under the driving of the propeller motors (84) to realize forward power assistance and stop balance;
the two vertical propellers (82) are respectively arranged in the middle positions of two sides of the outer shell (13), are respectively connected with the output ends of two propeller motors (84) arranged on two sides of the middle of the mounting partition plate (14), and rotate forwards and backwards under the driving of the propeller motors (84) to realize the power output of ascending and descending;
the two propelling propellers (83) are respectively arranged at the lower parts of the mounting brackets at the two sides of the rear part of the outer shell (13), are respectively connected with the output ends of two propeller motors (84) arranged at the rear part of the mounting partition plate (14), and are driven by the propeller motors (84) to rotate forward and backward so as to realize the output of advancing power and stop power assistance;
the two steering engines (85) are respectively arranged on the upper parts of the mounting supports on the two sides of the rear part of the outer shell (13) and are respectively connected with the two propelling propellers (83), so that the propelling propellers (83) are ensured to swing left and right under the driving of the steering engines (85) and the steering power of the underwater robot moving bearing platform is provided.
4. The underwater robotic mobile load-bearing platform of claim 1, wherein said sinking and floating device (9) comprises: a reservoir (91) and a compressed gas tank (92);
the water storage chamber (91) and the compressed gas tank (92) are arranged in the floating and sinking device mounting cavity (12) together;
a water inlet valve (911) and a water discharge valve (912) are arranged at the lower part of one side wall of the water storage chamber (91), and are fixedly arranged on the wall of the outer shell (13) and communicated with the outside;
the water inlet valve (911) and the water discharge valve (912) are connected with the circuit control system (3) through lines, and water storage and water discharge are carried out under the control of the circuit control system (3);
the air outlet valve (921) of the compressed air tank (92) is communicated with the air inlet (913) of the water storage chamber (91) and is connected with the circuit control system (3) through a line, the water storage chamber (91) is inflated under the control of the circuit control system (3), and water in the water storage chamber (91) is discharged from the drain valve (912) at the lower part;
and an air inlet valve (922) of the compressed air tank (92) is fixedly arranged on the wall of the outer shell (13) and is used for connecting external air supply equipment to supply air to the compressed air tank (92).
5. The underwater robot moving carrying platform as claimed in claim 4, wherein a closed semi-circular transparent cover is arranged at the front end of the outer shell (13) to enclose the lighting device (2) and the camera device (71).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022439725.4U CN213384667U (en) | 2020-10-28 | 2020-10-28 | Underwater robot moving bearing platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022439725.4U CN213384667U (en) | 2020-10-28 | 2020-10-28 | Underwater robot moving bearing platform |
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| Publication Number | Publication Date |
|---|---|
| CN213384667U true CN213384667U (en) | 2021-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022439725.4U Active CN213384667U (en) | 2020-10-28 | 2020-10-28 | Underwater robot moving bearing platform |
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| CN (1) | CN213384667U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115122837A (en) * | 2022-06-13 | 2022-09-30 | 安徽理工大学 | Amphibious robot for underground reservoir constructed by abandoned mine |
| WO2023066219A1 (en) * | 2021-10-20 | 2023-04-27 | 广东海洋大学 | Omnidirectional underwater robot |
-
2020
- 2020-10-28 CN CN202022439725.4U patent/CN213384667U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023066219A1 (en) * | 2021-10-20 | 2023-04-27 | 广东海洋大学 | Omnidirectional underwater robot |
| CN115122837A (en) * | 2022-06-13 | 2022-09-30 | 安徽理工大学 | Amphibious robot for underground reservoir constructed by abandoned mine |
| CN115122837B (en) * | 2022-06-13 | 2023-04-07 | 安徽理工大学 | Amphibious robot for underground reservoir constructed by abandoned mine |
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