CN101318545A - Deep sea equipment throwing device - Google Patents
Deep sea equipment throwing device Download PDFInfo
- Publication number
- CN101318545A CN101318545A CNA2008100618352A CN200810061835A CN101318545A CN 101318545 A CN101318545 A CN 101318545A CN A2008100618352 A CNA2008100618352 A CN A2008100618352A CN 200810061835 A CN200810061835 A CN 200810061835A CN 101318545 A CN101318545 A CN 101318545A
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- electromagnet
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- suspension hook
- dispenser
- push rod
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- 239000000725 suspension Substances 0.000 claims description 51
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 19
- 230000008878 coupling Effects 0.000 claims description 17
- 238000010168 coupling process Methods 0.000 claims description 17
- 238000005859 coupling reaction Methods 0.000 claims description 17
- 230000003750 conditioning effect Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 abstract description 3
- 230000005484 gravity Effects 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention discloses a deep-sea device dispenser which comprises the dispenser, a controller and a connection cone. The dispenser is connected with a coaxial cable and a cable on a ship; the connection cone is arranged at the top part of a device needed to be dispensed; when dispensing, the connection cone is closed by the dispenser so as to form connection and is dispensed by the cable by the gravity; after the dispenser and the dispensed device are dispensed into an appointed position at the bottom of the sea, an electric magnet is started by the controller; a push rod mechanism of the dispenser realizes unlocking, thus realizing that the dispenser is separated from the connection cone; the dispensing is finished when the dispenser is drawn back. Compared with the traditional deep-sea device dispensing method, the deep-sea device dispenser has the advantages of small size, flexible and skillful structure, simple control, reliable dispensing, large dead weight capacity, separating from the auxiliary unhooking operation of manual unhooking or remote operated vehicle (ROV), reducing the dispensing cost, the dispensing difficulty and the dispensing complexity, being capable of simultaneously realizing the dispensing and recovering of the large capacity devices by being loaded on a device with a movable locating function. The deep-sea device dispenser can be used in the sea area of any depth.
Description
Technical field
The present invention relates to be applied to a kind of deep sea equipment throwing device of the input of deep-sea habitata equipment.
Background technology
In aspect researchs such as abyssal environment, resource, geology, the input of detecting devices is the technology of a key, and is significant.But deep-sea high pressure, unknown landform etc. are thrown in to deep sea equipment and have been brought very big trouble.At present deep sea equipment is thrown in and is relied on manned deep-sea vehicle mostly, AUV etc., and it is extremely expensive to throw in cost, and the weight of equipment of throwing in also has very big limit, so a kind ofly can finish the instrument that heave-load device throws in and demand urgently researching and developing.The design invents out a kind of deep sea equipment throwing device at this technical background.
Summary of the invention
The objective of the invention is to propose the deep sea equipment throwing device that a kind of simple in structure, reliable operation, control are simple, can adapt to the deep-sea hyperbaric environment.
Deep sea equipment throwing device comprises dispenser, controller and is connected awl.Dispenser comprises the bolt of rear end plate group, the suspension hook anti-drop block, suspension hook, the bolt of rear end plate group, stay bearing plate, the cable attaching parts, the first bolt group, the second bolt group, the 3rd bolt group, the 4th bolt group, the electromagnet annular seal space, the electromagnet positioning retainer ring, the end cap fix screw, underwater electrical connector, oil sac, end cap, the 2nd O RunddichtringO, electromagnet, the one O RunddichtringO, the electromagnet apparatus fix screw, support ring, the pivot pin seat, pivot pin, push rod, oversheath, screw, base plate, retracing spring, the suspension hook snap ring, pivot pin seat bolt of rear end plate group, the suspension hook push rod, the push rod rotating shaft, the push rod coupling link, in the electromagnet annular seal space, be provided with the electromagnet positioning retainer ring, electromagnet, be provided with end cap in electromagnet annular seal space upper end, the end cap top is provided with underwater electrical connector, oil sac, electromagnet annular seal space lower end is provided with on the cable attaching parts, the iron core that electromagnet annular seal space bottom is provided with electromagnet pushes away the hole, the iron core of electromagnet passes iron core and pushes away the hole, iron core pushes away and is provided with an O RunddichtringO between hole and the electromagnet annular seal space, be provided with the 2nd O RunddichtringO between end cap and the electromagnet annular seal space, the push rod upper end is withstood in the iron core lower end of electromagnet, push rod lower end and push rod coupling link are threaded, push rod coupling link and 3 suspension hook push rods are by push rod rotating shaft axle connection, snap ring is fixed on the suspension hook, three identical retracing springs are connected on the connection aperture of suspension hook snap ring simultaneously, the pivot pin seat is fixed on small square hole both sides above the stay bearing plate by pivot pin seat bolt of rear end plate group, and the small square hole that suspension hook passes stay bearing plate is enclosed within on the shaft hole of pivot pin seat by pivot pin; Stay bearing plate and cable attaching parts connect firmly by the first bolt group, the second bolt group, the 3rd bolt group, the 4th bolt group of passing the hollow support ring that is clipped between stay bearing plate and the cable attaching parts respectively, stay bearing plate and oversheath connect firmly by the bolt of rear end plate group, oversheath and base plate connect firmly by the bolt of rear end plate group, base plate and suspension hook anti-drop block connect firmly by screw, and three suspension hook lower ends are arranged in three square grooves of suspension hook anti-drop block.The hook upper surface of suspension hook lower end upwarps structure for past, and hook is the abducent horizontal segment of width b for upwarping an angle a degree then.
The internal module annexation of described controller is: master cock is connected with input signal conditioning circuit, MCU control module, coupling buffer circuit, solenoid actuated, and the feedback signal conditioning circuit is connected with the MCU control module.Connecting cone top part is hemisphere, the middle part is a cylinder, the bottom is a flange, hemispheroidal bottom surface is a concave inward structure, near cylinder is that width is the planar annular of b, the planar annular outer rim is the frustum side at outside, downward-sloping a degree angle to hemispheroidal bottom surface outer rim, and the flange that connects awl is captiveed joint by bolt with the needs dispensing device.
The present invention compares with traditional deep sea equipment put-on method, have that volume is little, structure is ingenious flexibly, control is simple, throw in reliable, load carrying ability is big, has broken away from the auxiliary unhook operation of artificial unhook or long-range unmanned remote controlled machine (ROV), reduces and throws in cost, difficulty, complexity, by being loaded in advantages such as the input that can realize big carrying capacity equipment on the equipment with mobile positioning function simultaneously and recovery, can be used in the marine site of any depth of water.
Description of drawings
Fig. 1 is a deep sea equipment throwing device contour structures scheme drawing.
Fig. 2 is a deep sea equipment throwing device external structure scheme drawing (to view).
Fig. 3 is a deep sea equipment throwing device control system scheme drawing.
Fig. 4 is that deep sea equipment throwing device connects the awl scheme drawing.
Fig. 5 is a deep sea equipment throwing device suspension hook scheme drawing.
Fig. 6 is a deep sea equipment throwing device external structure overall diagram.
Among the figure: bolt of rear end plate group 1, suspension hook anti-drop block 2, suspension hook 3, bolt of rear end plate group 4, stay bearing plate 5, cable attaching parts 6, the first bolt group 7, the second bolt group 8, the 3rd bolt group 9, the 4th bolt group 10, electromagnet annular seal space 11, electromagnet positioning retainer ring 12, end cap fix screw 13, underwater electrical connector 14, oil sac 15, end cap 16, the 2nd O RunddichtringO 17, electromagnet 18, the one O RunddichtringO 19, electromagnet apparatus fix screw 20, support ring 21, pivot pin seat 22, pivot pin 23, push rod 24, oversheath 25, screw 26, base plate 27, retracing spring 28, suspension hook snap ring 29, pivot pin seat bolt of rear end plate group 30, suspension hook push rod 31, push rod rotating shaft 32, push rod coupling link 33, connect awl 34, master cock 35, input signal conditioning circuit 36, MCU control desk 37, feedback signal conditioning circuit 38, solenoid actuated 39, coupling buffer circuit 40.
The specific embodiment
Fig. 1,2, shown in 5, dispenser comprises bolt of rear end plate group 1, suspension hook anti-drop block 2, suspension hook 3, bolt of rear end plate group 4, stay bearing plate 5, cable attaching parts 6, the first bolt group 7, the second bolt group 8, the 3rd bolt group 9, the 4th bolt group 10, electromagnet annular seal space 11, electromagnet positioning retainer ring 12, end cap fix screw 13, underwater electrical connector 14, oil sac 15, end cap 16, the 2nd O RunddichtringO 17, electromagnet 18, the one O RunddichtringO 19, electromagnet apparatus fix screw 20, support ring 21, pivot pin seat 22, pivot pin 23, push rod 24, oversheath 25, screw 26, base plate 27, retracing spring 28, suspension hook snap ring 29, pivot pin seat bolt of rear end plate group 30, suspension hook push rod 31, push rod rotating shaft 32, push rod coupling link 33, in electromagnet annular seal space 11, be provided with electromagnet positioning retainer ring 12, electromagnet 18, be provided with end cap 16 in electromagnet annular seal space 11 upper ends, end cap 16 tops are provided with underwater electrical connector 14, oil sac 15, electromagnet annular seal space 11 lower ends are provided with on the cable attaching parts 6, the iron core that electromagnet annular seal space 11 bottoms are provided with electromagnet pushes away the hole, the iron core of electromagnet 18 passes iron core and pushes away the hole, iron core pushes away and is provided with an O RunddichtringO 19 between hole and the electromagnet annular seal space 11, be provided with the 2nd O RunddichtringO 17 between end cap 16 and the electromagnet annular seal space 11, push rod 24 upper ends are withstood in the iron core lower end of electromagnet 18, push rod 24 lower ends and push rod coupling link 33 are threaded, push rod coupling link 33 and 3 suspension hook push rods 31 are by 32 connection of push rod rotating shaft, snap ring 29 is fixed on the suspension hook 3, three identical retracing springs 28 are connected on the connection aperture of suspension hook snap ring 29 simultaneously, pivot pin seat 22 is fixed on small square hole both sides above the stay bearing plate 5 by pivot pin seat bolt of rear end plate group 30, and the small square hole that suspension hook 3 passes stay bearing plate 5 is enclosed within on the shaft hole of pivot pin seat 22 by pivot pin 23; Stay bearing plate 5 and cable attaching parts 6 connect firmly by the first bolt group 7, the second bolt group 8, the 3rd bolt group 9, the 4th bolt group 10 of passing the hollow support ring 21 that is clipped between stay bearing plate 5 and the cable attaching parts 6 respectively, stay bearing plate 5 and oversheath 25 connect firmly by bolt of rear end plate group 4, oversheath 25 and base plate 27 connect firmly by bolt of rear end plate group 1, base plate 27 and suspension hook anti-drop block 2 connect firmly by screw 26, and three suspension hook lower ends are arranged in three square grooves of suspension hook anti-drop block 2.The hook upper surface of the lower end of suspension hook 3 upwarps structure for past, and hook is the abducent horizontal segment of width b for upwarping an angle a degree then.
Shown in Figure 3, controller internal module annexation is: master cock 35 and input signal conditioning circuit 36, MCU control module 37, coupling buffer circuit 40, solenoid actuated 39 is connected, feedback signal conditioning circuit 38 is connected with MCU control module 37, the electric signal of master cock 35 is connected to MCU control desk 37 by signal condition 36, MCU control desk 37 outputs control signals to coupling buffer circuit 40, the output of coupling buffer circuit 40 will be as the input end of solenoid actuated 39, and the output of solenoid actuated 39 is through the input of long Distance Transmission (coaxial cable) to electromagnet.The induced signal of the position of electromagnet by electromagnet in-to-in hall device through amplification and through long Distance Transmission to feedback signal conditioning circuit 38, the output of feedback signal conditioning circuit 38 enters the MCU control desk as position feed back signal.
Shown in Figure 4, connecting awl 34 tops is hemispheres, the middle part is a cylinder, the bottom is a flange, hemispheroidal bottom surface is a concave inward structure, near cylinder is that width is the planar annular of b, and the planar annular outer rim is the frustum side at outside, downward-sloping a degree angle to hemispheroidal bottom surface outer rim, and the hook surface profile of the suspension hook 3 of its section profile line and dispenser matches.Connecting awl 34 captives joint by bolt with the needs dispensing device for the flange that connects awl.Connecting the diameter c bore thin segment is the ultimate load decision, according to
Wherein: M is a load quality
σ
sFor connecting awl material yield intensity
S is the permissible stress safety factor, and value is 3～4
Can determine relation between charge capacity and the diameter c according to this formula, connect conisphere shape head sphere diameter and be 2 times of diameter c, width b is diameter c's
Doubly, the flange of angle a value 5～10 degree connection awls is captiveed joint by bolt with the needs dispensing device.
The deep sea equipment throwing device working process is as follows: connect awl and be fixed on the equipment top that needs input by flange, the cable of throwing in the coaxial cable of metal v-belt is connected on the cable attaching parts, coaxial cable is terminal to link to each other with underwater electrical connector, and the underwater electrical connector end is connected on the underwater electrical connector joint of dispenser.Dispenser is vertically placed on and connects above the awl across the sea, the hole of dispenser lower end be connected cone head part and aim at, then toward pressing down, three suspension hooks that circumferentially distribute will be forced to strut and outwards launch around separately rotating shaft, be higher than plane on the hook of suspension hook when the hemispherical nose that connects awl, the spherical head that promptly connects awl slides into the handgrip draw-in groove inside that three suspension hooks form fully, three suspension hooks will be under the tension of extended state retracing spring and shrink, tightly be buckled in the semisphere lower surface as three fingers toward interior button, hemisphere-shaped lower surface is consistent with the cooperation of suspension hook hook upper surface profile, connects awl this moment and is in by locking states.Promote dispenser by winch, because suspension hook hook upper surface is for upwarping structure, connecting the awl hemisphere-shaped lower surface simultaneously is concave inward structure, and load is big more, and the handgrip of three suspension hook formation will be detained tightly more.The crab winch dispensing device, put into marine, winch rope is transferred to the appointment sea-bed area, when cable is in relaxed state, show and arrive the seabed, open master cock by control system, on-off signal is handled the back by modulate circuit and MCU control circuit and is transmitted magnet driver, drive magnetic work, the iron core of electromagnet promotes the connecting rod mechanism of being made up of push rod, suspension hook push rod, push rod coupling link and promotes three suspension hooks to overcome the convergent force of three retracing springs that are in extended state and open, promptly handgrip by three bars to being strutted.The iron core position of electromagnet is that the Hall element detection feeds back in the MCU control circuit, by whether relatively drawing iron core arrives predetermined stroke, be less than and then strengthen the propulsive effort that solenoid actuated voltage improves electromagnet, surpass and then reduce solenoid actuated voltage, the position of final iron core will be fixed on a preposition, and this moment, the hook of suspension hook separated with being connected to bore fully, and the locking states that connects awl is disengaged, promote dispenser, finish input.
Claims (3)
1. deep sea equipment throwing device, it is characterized in that comprising dispenser, controller be connected awl, dispenser comprises bolt of rear end plate group (1), suspension hook anti-drop block (2), suspension hook (3), bolt of rear end plate group (4), stay bearing plate (5), cable attaching parts (6), the first bolt group (7), the second bolt group (8), the 3rd bolt group (9), the 4th bolt group (10), electromagnet annular seal space (11), electromagnet positioning retainer ring (12), end cap fix screw (13), underwater electrical connector (14), oil sac (15), end cap (16), the 2nd O RunddichtringO (17), electromagnet (18), the one O RunddichtringO (19), electromagnet apparatus fix screw (20), support ring (21), pivot pin seat (22), pivot pin (23), push rod (24), oversheath (25), screw (26), base plate (27), retracing spring (28), suspension hook snap ring (29), pivot pin seat bolt of rear end plate group (30), suspension hook push rod (31), push rod rotating shaft (32), push rod coupling link (33), in electromagnet annular seal space (11), be provided with electromagnet positioning retainer ring (12), electromagnet (18), be provided with end cap (16) in electromagnet annular seal space (11) upper end, end cap (16) top is provided with underwater electrical connector (14), oil sac (15), electromagnet annular seal space (11) lower end is provided with on the cable attaching parts (6), the iron core that electromagnet annular seal space (11) bottom is provided with electromagnet pushes away the hole, the iron core of electromagnet (18) passes iron core and pushes away the hole, iron core pushes away and is provided with an O RunddichtringO (19) between hole and the electromagnet annular seal space (11), be provided with the 2nd O RunddichtringO (17) between end cap (16) and the electromagnet annular seal space (11), push rod (24) upper end is withstood in the iron core lower end of electromagnet (18), push rod (24) lower end and push rod coupling link (33) are threaded, push rod coupling link (33) and 3 suspension hook push rods (31) are by push rod rotating shaft (32) axle connection, snap ring (29) is fixed on the suspension hook (3), three identical retracing springs (28) are connected on the connection aperture of suspension hook snap ring (29) simultaneously, pivot pin seat (22) is fixed on small square hole both sides above the stay bearing plate (5) by pivot pin seat bolt of rear end plate group (30), and the small square hole that suspension hook (3) passes stay bearing plate (5) is enclosed within on the shaft hole of pivot pin seat (22) by pivot pin (23); Stay bearing plate (5) and cable attaching parts (6) connect firmly by the first bolt group (7), the second bolt group (8), the 3rd bolt group (9), the 4th bolt group (10) of passing the hollow support ring (21) that is clipped between stay bearing plate (5) and the cable attaching parts (6) respectively, stay bearing plate (5) and oversheath (25) connect firmly by bolt of rear end plate group (4), oversheath (25) and base plate (27) connect firmly by bolt of rear end plate group (1), base plate (27) and suspension hook anti-drop block (2) connect firmly by screw (26), and three suspension hook lower ends are arranged in three square grooves of suspension hook anti-drop block (2).
2. a kind of deep sea equipment throwing device according to claim 1, the internal module annexation that it is characterized in that described controller is: master cock (35) is connected with input signal conditioning circuit (36), MCU control module (37), coupling buffer circuit (40), solenoid actuated (39), and feedback signal conditioning circuit (38) is connected with MCU control module (37).
3. a kind of deep sea equipment throwing device according to claim 1, it is characterized in that described connection awl (34) top is a hemisphere, the middle part is a cylinder, the bottom is a flange, hemispheroidal bottom surface is a concave inward structure, near cylinder is that width is the planar annular of b, and the planar annular outer rim is the frustum side at outside, downward-sloping a degree angle to hemispheroidal bottom surface outer rim, and the flange that connects awl is captiveed joint by bolt with the needs dispensing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100618352A CN101318545B (en) | 2008-05-16 | 2008-05-16 | Deep sea equipment throwing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100618352A CN101318545B (en) | 2008-05-16 | 2008-05-16 | Deep sea equipment throwing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101318545A true CN101318545A (en) | 2008-12-10 |
| CN101318545B CN101318545B (en) | 2010-06-09 |
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ID=40178873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100618352A Expired - Fee Related CN101318545B (en) | 2008-05-16 | 2008-05-16 | Deep sea equipment throwing device |
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| Country | Link |
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| CN (1) | CN101318545B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101797970A (en) * | 2010-03-30 | 2010-08-11 | 中国船舶重工集团公司第七〇二研究所 | Carrying device for underwater movable platform of remote control submersible |
| CN101799294A (en) * | 2010-03-02 | 2010-08-11 | 中国科学院南海海洋研究所 | Wireless remote control tripping device based on microcontroller |
| CN102877807A (en) * | 2012-10-25 | 2013-01-16 | 中国石油大学(华东) | High-pressure well head temporary guide base lowering tool for floating drilling system |
| CN105805104A (en) * | 2014-12-30 | 2016-07-27 | 中国科学院深圳先进技术研究院 | Energy-storage type unlocking device and energy-storage type unlocking method |
| CN108288563A (en) * | 2016-08-21 | 2018-07-17 | 安溪县中磊设备制造有限公司 | A kind of breaker and its working method |
| CN109398615A (en) * | 2018-10-25 | 2019-03-01 | 苏州热工研究院有限公司 | A kind of deep-sea of buoy sinker lays method |
| CN112896471A (en) * | 2021-02-05 | 2021-06-04 | 浙江大学 | Multifunctional suspended underwater robot and base station system thereof |
| CN114162293A (en) * | 2021-11-29 | 2022-03-11 | 浙江大学 | Take damping device's AUV locking mechanism |
| CN117104433A (en) * | 2023-09-20 | 2023-11-24 | 海底鹰深海科技股份有限公司 | Disposable sonar and interaction method of disposable sonar and ship |
| CN117602010A (en) * | 2023-12-16 | 2024-02-27 | 东北石油大学 | Unhooking device assembly and automatic unhooking device of cabled underwater robot applying unhooking device assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5520369A (en) * | 1984-12-28 | 1996-05-28 | Institut Francais Du Petrole | Method and device for withdrawing an element fastened to a mobile installation from the influence of the movements of this installation |
| US4702320A (en) * | 1986-07-31 | 1987-10-27 | Otis Engineering Corporation | Method and system for attaching and removing equipment from a wellhead |
| US5894895A (en) * | 1996-11-25 | 1999-04-20 | Welsh; Walter Thomas | Heave compensator for drill ships |
| CN1278903C (en) * | 2004-03-22 | 2006-10-11 | 中国海洋大学 | Device for throwing submarine bank |
| CN1285899C (en) * | 2004-12-01 | 2006-11-22 | 浙江大学 | Fidelity sampling integrated deep sea sediment sampler |
| CN201231853Y (en) * | 2008-05-16 | 2009-05-06 | 浙江大学 | Deep sea equipment dispenser |
-
2008
- 2008-05-16 CN CN2008100618352A patent/CN101318545B/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101799294A (en) * | 2010-03-02 | 2010-08-11 | 中国科学院南海海洋研究所 | Wireless remote control tripping device based on microcontroller |
| CN101797970A (en) * | 2010-03-30 | 2010-08-11 | 中国船舶重工集团公司第七〇二研究所 | Carrying device for underwater movable platform of remote control submersible |
| CN101797970B (en) * | 2010-03-30 | 2012-07-18 | 中国船舶重工集团公司第七〇二研究所 | Carrying device for underwater movable platform of remote control submersible |
| CN102877807A (en) * | 2012-10-25 | 2013-01-16 | 中国石油大学(华东) | High-pressure well head temporary guide base lowering tool for floating drilling system |
| CN105805104A (en) * | 2014-12-30 | 2016-07-27 | 中国科学院深圳先进技术研究院 | Energy-storage type unlocking device and energy-storage type unlocking method |
| CN108288563A (en) * | 2016-08-21 | 2018-07-17 | 安溪县中磊设备制造有限公司 | A kind of breaker and its working method |
| CN109398615A (en) * | 2018-10-25 | 2019-03-01 | 苏州热工研究院有限公司 | A kind of deep-sea of buoy sinker lays method |
| CN112896471A (en) * | 2021-02-05 | 2021-06-04 | 浙江大学 | Multifunctional suspended underwater robot and base station system thereof |
| CN114162293A (en) * | 2021-11-29 | 2022-03-11 | 浙江大学 | Take damping device's AUV locking mechanism |
| CN114162293B (en) * | 2021-11-29 | 2022-12-06 | 浙江大学 | Take damping device's AUV locking mechanism |
| CN117104433A (en) * | 2023-09-20 | 2023-11-24 | 海底鹰深海科技股份有限公司 | Disposable sonar and interaction method of disposable sonar and ship |
| CN117602010A (en) * | 2023-12-16 | 2024-02-27 | 东北石油大学 | Unhooking device assembly and automatic unhooking device of cabled underwater robot applying unhooking device assembly |
| CN117602010B (en) * | 2023-12-16 | 2024-05-24 | 东北石油大学 | Unhooking device assembly and automatic unhooking device of cabled underwater robot applying unhooking device assembly |
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| Publication number | Publication date |
|---|---|
| CN101318545B (en) | 2010-06-09 |
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