CN115608725B - A rotary cage cleaning robot - Google Patents
A rotary cage cleaning robot Download PDFInfo
- Publication number
- CN115608725B CN115608725B CN202211328629.XA CN202211328629A CN115608725B CN 115608725 B CN115608725 B CN 115608725B CN 202211328629 A CN202211328629 A CN 202211328629A CN 115608725 B CN115608725 B CN 115608725B
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- plate
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- machine body
- vertical
- cleaning
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- 238000004140 cleaning Methods 0.000 title claims abstract description 73
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 238000007667 floating Methods 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 7
- 239000006260 foam Substances 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 6
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 230000009471 action Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000005286 illumination Methods 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/0861—Cleaning crates, boxes or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/087—Cleaning containers, e.g. tanks by methods involving the use of tools, e.g. brushes, scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/093—Cleaning containers, e.g. tanks by the force of jets or sprays
- B08B9/0936—Cleaning containers, e.g. tanks by the force of jets or sprays using rotating jets
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Farming Of Fish And Shellfish (AREA)
- Cleaning In General (AREA)
Abstract
The invention belongs to the technical field of cage cleaning and discloses a rotary cage cleaning robot which comprises a machine body, wherein a fixed plate is fixedly arranged in the machine body, a vertical pipe is rotatably arranged in the fixed plate, the top of the vertical pipe upwards penetrates through the fixed plate, a first tooth is fixedly arranged above the outer surface of the vertical pipe, a power mechanism is fixedly arranged at the top of the fixed plate, and a fan is fixedly arranged at the top of an inner cavity of the machine body. Compared with the traditional device, the device drives the cleaning plate and the vertical brush to rotate through the vertical pipe, and when the net cage is cleaned, high-pressure bubbles downwards sprayed through the air holes pass through the aperture of the net cage, so that the net cage is dredged, the synchronous cleaning operation of the surface of the net cage and the net is realized, the cleaning efficiency and the cleaning effect of workers are improved, and the cleaning operation is more thorough.
Description
Technical Field
The invention belongs to the technical field of cage cleaning, and particularly relates to a rotary cage cleaning robot.
Background
At present, when raising or catching the operation in deep sea plant, will be with super large-scale box with a net usually, and because the volume of box with a net is great, usually inconvenient dismantlement washs, but adopt remote control robot under water to carry out cleaning operation, thereby the box with a net cleaning robot among the prior art adopts the motor to drive the cleaning brush and rotates to carry out cleaning operation to the box with a net usually, but because the structure is comparatively single, and can only clean the spot on box with a net surface, can't carry out good cleaning operation to the spot of the inside residual spot of mesh, and the spot that carries out the cleaning brush and brush will continue to float in the vicinity of box with a net, thereby depend on the box with a net surface once more easily, can't realize thoroughly cleaning, lead to cleaning effect not good and cleaning efficiency low, consequently, need improve and optimize it.
Disclosure of Invention
The invention aims to provide a rotary type cage cleaning robot which is used for solving the problems in the background technology.
In order to achieve the above object, the present invention provides the following technical solutions: the utility model provides a rotary type box with a net cleaning robot, includes the organism, the inside fixed mounting of organism has the fixed plate, the inside rotation of fixed plate installs the standpipe, the top of standpipe upwards runs through the fixed plate, the top fixed mounting of standpipe surface has first tooth, the top fixed mounting of fixed plate has power unit, the top fixed mounting of organism inner chamber has the fan, the bottom fixed mounting of fan has out the tuber pipe, the top intercommunication of tuber pipe and standpipe, the surface fixedly connected with buoyancy hose of tuber pipe, buoyancy hose upwards runs through organism and fixed mounting have the kicking block, the bottom of standpipe runs through fixed plate downwards and fixed mounting has the cleaning plate, the bottom fixed mounting of cleaning plate has vertical brush, the surface fixed mounting of vertical brush has horizontal brush, the gas pocket has been seted up to the bottom of cleaning plate, the surface fixed mounting of standpipe has the flight that is located the cleaning plate top.
Preferably, the left and right sides of organism bottom all fixed mounting has the riser, the inside movable mounting of fixed plate has the circle axle, the surface fixed mounting of circle axle has the fly leaf, the right-hand member fixed mounting of circle axle has the second gear, the inside movable mounting of organism has the kinematic plate, the kinematic plate runs through the fixed plate downwards, the equal fixed mounting in both sides of kinematic plate has the second tooth, the top fixed mounting of kinematic plate has the riser, the side fixed mounting of riser has the third tooth, the riser upwards runs through the organism, the right-hand member of organism is provided with actuating mechanism.
Preferably, the power mechanism comprises a first motor fixedly arranged at the top of the fixed plate, and a first gear is fixedly arranged on an output shaft of the first motor.
Preferably, the driving mechanism comprises a second motor fixedly installed at the right end of the machine body, an output shaft of the second motor extends to the inside of the machine body and is fixedly provided with a third gear, and the second motor is started, so that the third gear is driven to rotate due to the operation of the second motor.
Preferably, the top of the machine body is fixedly provided with the camera device, and the front surface of the machine body is fixedly provided with the illumination device.
Preferably, the left side and the right side of the machine body are fixedly provided with third motors, and the tops of the third motors are fixedly provided with paddles.
Preferably, handles are fixedly arranged on the top of the machine body, and the number of the handles is two.
Preferably, the left and right sides of organism all fixed mounting has the backup pad, the bottom of backup pad rotates and installs the removal wheel.
Preferably, the floating blocks are made of foam, and the buoyancy force born by the floating blocks is larger than the downward pulling force exerted on the floating blocks by the gravity of the buoyancy hose.
The beneficial effects of the invention are as follows:
1. according to the invention, the cleaning plate, the air hole and the fan are arranged, the stand pipe and the cleaning plate are driven to rotate through the operation of the power mechanism and the fan, the outside air is pumped to ventilate the stand pipe and the cleaning plate, and then the air hole is used for spraying air outwards.
2. According to the invention, the cleaning plate and the spiral sheet are driven to rotate through the operation of the power mechanism, stains attached to the surface of the net cage can be cleaned through the rotation of the cleaning plate, and meanwhile, nearby water flows downwards impact the surface of the net cage under the rotation action of the spiral sheet.
3. The invention adopts the vertical plate, the movable plate and the second teeth, and drives the movable plate to do lifting movement through the operation of the driving mechanism, and the second gear drives the round shaft and the movable plate to rotate through the second teeth, so as to change the opening and closing angle of the movable plate, compared with the traditional device, the device changes the opening and closing angle of the movable plate, and then change the volume size between fly leaf and the riser for the bubble volume that gathers in the fixed plate bottom changes, realizes changing the organism and wholly receives buoyancy size, through changing buoyancy size, assists the organism to go up and down the motion, better carries out cleaning operation to the box with a net lateral wall, practices thrift the power consumption of third motor on the lift, prolongs cleaning operation time.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic cross-sectional view of a side face of the present invention;
FIG. 3 is a schematic view of the internal structure of the body of the present invention;
FIG. 4 is a schematic view of a first gear according to the present invention;
FIG. 5 is a schematic view of the structure of the cleaning plate of the present invention;
FIG. 6 is a schematic view of the structure of the spiral sheet of the present invention;
Fig. 7 is a schematic structural view of the movable plate of the present invention.
In the figure: 1. a body; 2. a fixing plate; 3. a standpipe; 4. a first tooth; 5. a first motor; 6. a first gear; 7. a cleaning plate; 8. erecting a hairbrush; 9. a horizontal brush; 10. air holes; 11. a blower; 12. an air outlet pipe; 13. a buoyancy hose; 14. a floating block; 15. a riser; 16. a circular shaft; 17. a movable plate; 18. a second gear; 19. a motion plate; 20. a second tooth; 21. a riser; 22. a third tooth; 23. a second motor; 24. a third gear; 25. a spiral sheet; 26. an image pickup device; 27. a third motor; 28. a paddle; 29. a handle; 30. a support plate; 31. a moving wheel; 32. an illumination device.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 7, the embodiment of the invention provides a rotary net cage cleaning robot, which comprises a machine body 1, wherein a fixed plate 2 is fixedly installed in the machine body 1, a vertical pipe 3 is rotatably installed in the fixed plate 2, the top of the vertical pipe 3 upwards penetrates through the fixed plate 2, a first tooth 4 is fixedly installed above the outer surface of the vertical pipe 3, a power mechanism is fixedly installed at the top of the fixed plate 2, a fan 11 is fixedly installed at the top of an inner cavity of the machine body 1, an air outlet pipe 12 is fixedly installed at the bottom end of the fan 11, the air outlet pipe 12 is communicated with the top of the vertical pipe 3, a buoyancy hose 13 is fixedly connected to the outer surface of the air outlet pipe 12, the buoyancy hose 13 upwards penetrates through the machine body 1 and is fixedly installed with a floating block 14, the bottom end of the vertical pipe 3 downwards penetrates through the fixed plate 2 and is fixedly installed with a cleaning plate 7, a vertical brush 8 is fixedly installed at the bottom end of the cleaning plate 7, a horizontal brush 9 is fixedly installed at the outer surface of the vertical brush 8, an air hole 10 is formed at the bottom end of the cleaning plate 7, and a spiral piece 25 positioned at the top of the cleaning plate 7 is fixedly installed at the outer surface of the vertical pipe 3;
the working personnel lowers the machine body 1 to the bottom of the inner cavity of the net cage through a traction rope, at the moment, the power mechanism is controlled to be started through the remote controller, and the first teeth 4 drive the vertical pipes 3 to rotate through the operation of the power mechanism, then the vertical pipes 3 drive the cleaning plates 7 to rotate together, and the vertical brushes 8 and the horizontal brushes 9 are driven to rotate through the rotation of the cleaning plates 7, so that stains attached to the surface of the net cage are cleaned;
Simultaneously, the fan 11 is started, external air is extracted through the buoyancy hose 13 due to the operation of the fan 11, air is continuously introduced into the vertical pipe 3 and the cleaning plate 7 through the air outlet pipe 12, and air is blown to the surface of the net cage through the air holes 10, at the moment, the spiral sheets 25 are driven to rotate together due to the rotation of the vertical pipe 3, so that a water source near the spiral sheets 25 is driven, water flows from top to bottom under the driving action of the spiral sheets 25, and the surface of the net cage is impacted by the water flow;
Through the operation of power unit and fan 11 to drive standpipe 3 and cleaning plate 7 and rotate, the outside air of extraction is ventilated to standpipe 3 and cleaning plate 7's inside simultaneously, and rethread gas pocket 10 is outside jet, compare with traditional device, the device drives cleaning plate 7 and vertical brush 8 through standpipe 3 and rotates, when carrying out cleaning operation to the box with a net, through the high-pressure bubble of gas pocket 10 decurrent blowout, pass the box with a net aperture through the bubble, thereby dredge the operation to the mesh, realized the synchronous cleaning operation of box with a net surface and mesh, improved staff's cleaning efficiency and cleaning effect, make cleaning operation more thoroughly.
Through power unit's operation, drive clean board 7 and flight 25 and rotate, through the rotation of clean board 7, can clean the dirty attached to the box with a net surface, simultaneously under the effect of flight 25's rotation, make nearby rivers strike the box with a net surface downwards, compare with transmission, the device passes through flight 25's rotation, make the water source of the nearby showy dirty of box with a net be driven downwards, thereby make it keep away from near the box with a net, avoid the dirty to attach to the box with a net surface once more, secondly, through driving rivers downwards, make the rivers drive high-pressure bubble and pass the mesh together, thereby improve the clean dynamics to the mesh.
As shown in fig. 2 and 3, vertical plates 15 are fixedly installed on the left and right sides of the bottom end of the machine body 1, a circular shaft 16 is movably installed inside the fixed plate 2, a movable plate 17 is fixedly installed on the outer surface of the circular shaft 16, a second gear 18 is fixedly installed on the right end of the circular shaft 16, a moving plate 19 is movably installed inside the machine body 1, the moving plate 19 downwards penetrates through the fixed plate 2, second teeth 20 are fixedly installed on two sides of the moving plate 19, a vertical plate 21 is fixedly installed on the top of the moving plate 19, a third teeth 22 is fixedly installed on the side surface of the vertical plate 21, the vertical plate 21 upwards penetrates through the machine body 1, and a driving mechanism is arranged at the right end of the machine body 1;
wherein, the working personnel starts the fan 11 through the controller, through the operation of the fan 11, the air bubbles are downwards sprayed out through the air holes 10, after the air bubbles are downwards sprayed out, under the self buoyancy effect, the air bubbles upwards move and pass through the cleaning plate 7 to be gathered at the bottom end of the fixed plate 2, at the moment, the working personnel starts the driving mechanism, and due to the operation of the driving mechanism, the driving mechanism drives the vertical plate 21 and the moving plate 19 to lift through the third teeth 22, and then drives the second gear 18 and the moving plate 17 to rotate through the second teeth 20, so that the two moving plates 17 symmetrically move;
Through actuating mechanism's operation to drive the motion board 19 and carry out elevating movement, make the second gear 18 drive circle axle 16 and fly leaf 17 rotate through second tooth 20, thereby change the angle of opening and shutting of fly leaf 17, compare with traditional device, the device is through changing the angle of opening and shutting of fly leaf 17, and then change the volume size between fly leaf 17 and the riser 15, make the bubble volume of gathering in fixed plate 2 bottom change, realize changing organism 1 whole and receive buoyancy size, through changing buoyancy size, assist organism 1 to carry out elevating movement, the better carries out cleaning operation to the box with a net lateral wall, save the power consumption of third motor 27 on going up and down, the cleaning operation time is prolonged.
As shown in fig. 4, the power mechanism comprises a first motor 5 fixedly arranged at the top of the fixed plate 2, and a first gear 6 is fixedly arranged on an output shaft of the first motor 5;
The first motor 5 is started, the first gear 6 is driven to rotate due to the operation of the first motor 5, and the standpipe 3 is driven to rotate through the first gear 4 due to the fact that the outer surface of the first gear 6 is in a mutually meshed state with the first gear 4, so that the cleaning plate 7 is driven to rotate, and a power source is provided for cleaning operation.
As shown in fig. 3, the driving mechanism includes a second motor 23 fixedly installed at the right end of the machine body 1, an output shaft of the second motor 23 extends into the machine body 1 and is fixedly provided with a third gear 24, and the second motor 23 is started, and the second motor 23 operates to drive the third gear 24 to rotate;
Wherein, because the outer surface of the third gear 24 and the third tooth 22 are in an inter-engagement state, the riser 21 and the moving plate 19 are driven to move up and down by the third tooth 22, so as to realize the rotation of the movable plate 17, and adjust the opening and closing angle of the movable plate 17.
As shown in fig. 1, the top of the machine body 1 is fixedly provided with an image pickup device 26, and the front of the machine body 1 is fixedly provided with an illumination device 32;
Wherein, because of the design of camera device 26, can play good monitoring effect, the staff of being convenient for observes the condition under water to the cleaning operation of being convenient for.
As shown in fig. 1, a third motor 27 is fixedly arranged on the left side and the right side of the machine body 1, and a paddle 28 is fixedly arranged on the top of the third motor 27;
Wherein, the third motor 27 is started by the staff, and the blade 28 is driven to rotate due to the operation of the third motor 27, and the whole body 1 is driven to lift through the rotation of the blade 28, so that the side wall of the net cage is convenient to clean.
As shown in fig. 1, handles 29 are fixedly arranged on the top of the machine body 1, and the number of the handles 29 is two;
Wherein, owing to the design of the handle 29, the operator can conveniently lift the machine body 1 upwards through the handle 29 or put the machine body 1 into water through the handle 29.
As shown in fig. 1, support plates 30 are fixedly mounted on the left and right sides of the machine body 1, and movable wheels 31 are rotatably mounted at the bottom ends of the support plates 30;
The whole machine body 1 moves through the rotation of the moving wheel 31, so that the position of the machine body 1 is changed, and cleaning operations are performed on other positions of the bottom of the net cage.
As shown in fig. 1, the floating block 14 is made of foam, and the buoyancy force borne by the floating block 14 is greater than the downward pulling force exerted on the floating block 14 by the gravity of the buoyancy hose 13;
Wherein, because of the design of the floating block 14, the top of the buoyancy hose 13 is always higher than the water surface, thereby ensuring the normal pumping operation of air.
Working principle and using flow:
the power mechanism and the fan 11 are operated to drive the vertical pipe 3 and the cleaning plate 7 to rotate, and simultaneously, the outside air is extracted to ventilate the inside of the vertical pipe 3 and the cleaning plate 7, and then the air is sprayed outwards through the air holes 10;
The cleaning plate 7 and the spiral sheet 25 are driven to rotate through the operation of the power mechanism, stains attached to the surface of the net cage can be cleaned through the rotation of the cleaning plate 7, and meanwhile, nearby water flows downwards to impact the surface of the net cage under the action of the rotation of the spiral sheet 25;
the driving mechanism operates to drive the moving plate 19 to move up and down, and the second gear 18 drives the circular shaft 16 and the movable plate 17 to rotate through the second teeth 20, so that the opening and closing angle of the movable plate 17 is changed.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211328629.XA CN115608725B (en) | 2022-10-27 | 2022-10-27 | A rotary cage cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211328629.XA CN115608725B (en) | 2022-10-27 | 2022-10-27 | A rotary cage cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115608725A CN115608725A (en) | 2023-01-17 |
| CN115608725B true CN115608725B (en) | 2024-11-15 |
Family
ID=84877004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211328629.XA Active CN115608725B (en) | 2022-10-27 | 2022-10-27 | A rotary cage cleaning robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN115608725B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112371607A (en) * | 2020-11-18 | 2021-02-19 | 浙江大学 | Self-suction type underwater fishing net cleaning device capable of freely walking |
| CN212633535U (en) * | 2020-07-03 | 2021-03-02 | 伊川县五丰实业有限公司 | Foundry goods surface sand removal device |
| CN113978644A (en) * | 2021-12-14 | 2022-01-28 | 聂晓滨 | Underwater cleaning robot |
| CN114904861A (en) * | 2022-03-24 | 2022-08-16 | 浙江理工大学 | Underwater netting crawling cleaning device and method for cleaning underwater netting |
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| CN1227137C (en) * | 2001-01-02 | 2005-11-16 | 梁富泉 | Glide submarine |
| RU2399550C1 (en) * | 2009-04-27 | 2010-09-20 | Валерий Павлович Монахов | Mobile underwater dwelling house |
| WO2017066906A1 (en) * | 2015-10-19 | 2017-04-27 | 浙江大学 | Automatic oil discharging type buoyancy regulating device for underwater robot |
| JP2019533599A (en) * | 2016-09-20 | 2019-11-21 | サウジ アラビアン オイル カンパニー | Underwater boat and inspection method |
| CN106516037B (en) * | 2016-11-11 | 2018-10-16 | 南通市海鸥救生防护用品有限公司 | Hull cleans monitoring underwater robot with water |
| CN108216532B (en) * | 2017-12-20 | 2020-07-14 | 上海交通大学 | Fixed-wing sea and air multi-dwelling vehicle and control method |
| CN109499979A (en) * | 2019-01-15 | 2019-03-22 | 北京史河科技有限公司 | Underwater cleaning robot |
| CN111252222A (en) * | 2020-02-27 | 2020-06-09 | 中国科学院自动化研究所 | Bidirectional buoyancy adjustment device for underwater robot |
| CN114516388B (en) * | 2022-03-03 | 2024-10-15 | 上海海洋大学 | Underwater cleaning robot for outer wall of ship |
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2022
- 2022-10-27 CN CN202211328629.XA patent/CN115608725B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212633535U (en) * | 2020-07-03 | 2021-03-02 | 伊川县五丰实业有限公司 | Foundry goods surface sand removal device |
| CN112371607A (en) * | 2020-11-18 | 2021-02-19 | 浙江大学 | Self-suction type underwater fishing net cleaning device capable of freely walking |
| CN113978644A (en) * | 2021-12-14 | 2022-01-28 | 聂晓滨 | Underwater cleaning robot |
| CN114904861A (en) * | 2022-03-24 | 2022-08-16 | 浙江理工大学 | Underwater netting crawling cleaning device and method for cleaning underwater netting |
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| Publication number | Publication date |
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| CN115608725A (en) | 2023-01-17 |
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