CN106744258B - A kind of adjustable latent device suspension centre external hanging type of structure lays recyclable device and method - Google Patents
A kind of adjustable latent device suspension centre external hanging type of structure lays recyclable device and method Download PDFInfo
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- CN106744258B CN106744258B CN201611142404.XA CN201611142404A CN106744258B CN 106744258 B CN106744258 B CN 106744258B CN 201611142404 A CN201611142404 A CN 201611142404A CN 106744258 B CN106744258 B CN 106744258B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/12—Slings comprising chains, wires, ropes, or bands; Nets
- B66C1/125—Chain-type slings
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- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a kind of adjustable latent device suspension centre external hanging types of structure to lay recyclable device, belong to operation at sea technical field, it includes: that primary and secondary ring hangs circle, lifting frame, lifting chain, braced frame, holds and open chain, circle cage chain, circle cage chain link and lifting pedestal；One end of four identical lifting chains hung with primary and secondary ring circle connection, the other end respectively with lifting frame upper surface four angles mount, lifting frame lower end surface four angles by four it is identical hold open chain and braced frame upper surface mounting；The lower end surface of braced frame is by four or more along the equally distributed circle cage chain in its four side and lifting pedestal mounting, and face where making braced frame is parallel with face where lifting pedestal, four or more circle cage chain envelopes are equipped in the outer surface of the tubular structure along its circumferentially distributed more than two circle cage chain link at tubular structure；The present invention has the characteristics that structure is adjustable, realizes the flexible modulation for laying structure.
Description
Technical field
The invention belongs to operation at sea technical fields, and in particular to a kind of adjustable latent device suspension centre external hanging type cloth of structure is put back to
Receiving apparatus and method.
Background technique
The recycling that lays of current latent device is mainly completed in such a way that suspension hook lifts, and has the disadvantages that (1) using hanging
Hook block dress then must install suspension centre on latent device, and stress is concentrated at suspension centre, influences latent device Intensity Design and total arrangement.
(2) it is lifted using suspension hook, increases the ship resistance of latent device, according to the latent device resistance test measurement display of correlation, hoisting structure and rudder
Etc. 40% or so that resistance caused by attached body is about without attached body bulk fluid resistance.(3) it is lifted using suspension hook, installing suspension centre is then
The limited space of latent device can be occupied, the weight of latent device is increased.(4) it is lifted using suspension hook, in the case where sea situation is severe, hook is not
Easily, furthermore when ship roll angle is big, then the probability of latent device Yu hull direct collision can be increased, operation safety coefficient reduces.
(5) for the requirement of some operating environments, if pipeline emits, then do not allow exposed suspension centre on latent device.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of adjustable latent device suspension centre external hanging type of structure lay recyclable device and
Method, it is inconvenient or suspension centre cannot be installed on it suitable for the needs because of use environment, general shape or improving performance, it needs
The case where being moved outside suspension centre, and have the characteristics that structure is adjustable, realize the flexible modulation for laying structure.
The present invention is achieved through the following technical solutions:
A kind of adjustable latent device suspension centre external hanging type of structure lays recyclable device, comprising: primary and secondary ring hangs circle, lifting frame, rises
Chain sling item, braced frame hold and open chain, circle cage chain, circle cage chain link and lifting pedestal；
The lifting frame and braced frame are the rectangular frame consolidated by bolt；
The lifting pedestal is the substrate that latent device lay recycling, and lifting pedestal is equipped with the company for connecting with latent device
Connection mechanism and the mounting hole for adapting to latent device fixed installation；
Integrated connection relationship is as follows: circle connection, the other end point is hung with primary and secondary ring in one end of four identical lifting chains
Not with lifting frame upper surface four angles mount, lifting frame lower end surface four angles by four it is identical hold open chain with
The upper surface of braced frame mounts；The lower end surface of braced frame by four or more along the equally distributed circle cage chain in its four side and
Pedestal mounting is lifted by crane, and keeps braced frame place face parallel with face where lifting pedestal, four or more circle cage chain envelopes are at cylinder
Shape structure is equipped in the outer surface of the tubular structure along its more than one circumferentially distributed circle cage chain link, and circle cage chain link is complete
At miscellaneous function.
Further, when target dive device be flat structure when, lifting pedestal be plate armature, lift by crane the surface of pedestal
It is equipped with camel back.
Further, when target dive device be cylindrical structure when, lifting pedestal include: two side plates, two connecting rods and
More than two U-shaped framves；U-shaped frame is evenly distributed in two parallel connecting rods, two side plates be separately mounted to two it is parallel
The both ends of connecting rod, and two side plates distinguish outward bending set angle；The set angle is less than 90 °；On side plate and U-shaped frame
It is equipped with camel back.
Further, one end of the lifting chain is buckled by the butterfly that the Fastener for climbing mountain and primary and secondary ring of its end hang circle ring
Connection；The eye bolt on Fastener for climbing mountain and lifting four angles of frame that the other end passes through its end mounts.
Further, described to hold Fastener for climbing mountain and the braced frame mounting for opening chain by its end.
Further, the circle cage chain is connect by the Fastener for climbing mountain of its end with the camel back on lifting pedestal.
Further, the Fastener for climbing mountain of chain and position and the adjustment of braced frame mounting are opened by adjusting lifting chain or hold
Lifting chain holds and opens the presence or absence of chain or the length and number, the lifting frame that enclose cage chain, and then adjusts the structure ruler of the device
It is very little.
The recovery method that lays of recyclable device is laid based on the adjustable latent device suspension centre external hanging type of a kind of structure, specifically
Steps are as follows:
When without lifting operation, crane lifting circle cage chain and its above section are separated with lifting pedestal；Lift by crane bottom
Seat is located at below latent device, the fixed latent device of stability maintenance；
When laying untethered latent device:
The first step, crane hang circle by hanging primary and secondary ring and the component in addition to lifting by crane pedestal of the device are moved to latent device
Above position, after decentralization to setting position, cage chain will be enclosed and mounted with the lifting pedestal being mounted below latent device, lifted by crane after the completion
Enter water；
Second step, after transferring latent device to set depth, latent device, which stays, bubbles through the water column, and latent device is separated with lifting pedestal, then borrows
Recycling tool, which is laid, with external auxiliary or directly manipulates latent device or latent device autonomous navigation holds the gap opened between chain from two
Gap between place or two lifting chains is driven out to；
When recycling untethered latent device:
The first step controls untethered latent device and holds from two and opens the gap between chain and drive into the space of circle cage chain envelope
Afterwards, the water surface above lifting pedestal is finally hovered over；
Second step, crane hang circle for the lifting water outlet of latent device, latent device side before and after lifting pedestal auxiliary by hanging primary and secondary ring
Under the auxiliary of the U-shaped frame of plate and left and right, it is located on the predetermined position of lifting pedestal；
Third step, after crane moves the device into setting position, crane decentralization makes lifting pedestal land, and separates circle cage
Chain and lifting pedestal；
Component in addition to lifting by crane pedestal is moved to clear position by the 4th step, crane, completes untethered latent device
Recycling；
When laying device latent with cable:
The first step will hold and open chain and separate with braced frame；
Second step, crane hang circle by hanging primary and secondary ring, and lifting frame and lifting chain are moved to above latent device position,
Decentralization will be placed in after adjacent two hold and open between chain to setting position with cable device of diving, and by braced frame and is held and is opened chain
Mounting；
Primary and secondary ring is hung and moves on to setting position on circle by third step, crane, will be enclosed cage chain and is mounted on rising below latent device
Pedestal mounting is hung, rises hang in water after the completion；
4th step, after transferring latent device to set depth, latent device, which stays, bubbles through the water column, and latent device is separated with lifting pedestal, then borrows
Recycling tool is laid with external auxiliary or directly manipulation is dived device chain sling from two are held and open gap between chain or two
Gap between item is driven out to；
When recycling band cable dives device:
The first step is held from two and to be opened after the gap between chain drives into the space of circle cage chain envelope with cable device of diving,
The device that will dive with cable is mounted on lifting pedestal；
Second step, after the cable for packing up latent device, device auxiliary of side plate and left side plate before and after lifting pedestal is additional of diving
Under, it is located on the predetermined position of lifting pedestal, and hang emersion water；
Third step, after crane moves the device into setting position, crane decentralization makes lifting pedestal land, and separates circle cage
Chain and lifting pedestal；
4th step, crane continue to transfer, and after frame to be supported lands, separate braced frame and hold and open chain；
5th step, crane will lift by crane frame and lifting chain and be moved to clear position, complete and dive the recycling of device with cable.
The utility model has the advantages that (1) lifting frame and braced frame of the invention is the rectangular frame consolidated by bolt, adjustment
Size is convenient；And lifting chain, hold open chain and circle cage chain can by adjusting the mounting position of Fastener for climbing mountain, come flexibly adjust
Section lays the size of structure to lay recovering effect actually lay that removal process is optimal.
(2) structure of the invention makes latent device not need that suspension centre is arranged at its own, for advanced optimizing latent device intensity
Design and total arrangement have great influence, while also reducing the ship resistance of latent device, reduce the weight of latent device, increase
The space utilization rate of latent device.
(3) present invention is lifted by crane on pedestal by the way that latent device to be mounted on, and realizes the way of recycling of the face recycling to latent device, compared with
Traditional suspension hook point way of recycling is easier to recycle in the case where sea situation is severe.
(4) present invention lay recycle latent device during, dive device always within the device of the invention, latent device protected to avoid
Itself and hull direct collision, operation safety coefficient are high.
Detailed description of the invention
Fig. 1 is main view of the invention
Fig. 2 is left view of the invention
Fig. 3 is tomograph of the invention
Fig. 4 is that primary and secondary ring hangs loop knot composition
Fig. 5 is lifting frame construction drawing
Fig. 6 is lifting chain structure chart
Fig. 7 is to hold to open chain structure figure
Fig. 8 is support frame structure figure
Fig. 9 is a kind of lifting understructure figure
Figure 10 is another lifting understructure figure
Figure 11 is the present invention and the flat latent device installation diagram of band cable
Figure 12 is the latent device installation diagram of the present invention with cylinder
Figure 13 is another structural schematic diagram of the invention.
Wherein, 2- encloses cage chain link, 3- braced frame, and 4- encloses cage chain, and 5-, which is held, opens chain, and 6- lifts by crane frame, 7- primary and secondary ring
Circle, 8- lifting chain are hung, 9- lifts by crane pedestal.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of adjustable latent device suspension centre external hanging types of structure to lay recyclable device, referring to attached drawing 1-8, packet
Include: primary and secondary ring hang circle 7, lifting frame 6, lifting chain 8, braced frame 3, hold open chain 5, circle cage chain 4, circle cage chain link 2 and
Lift by crane pedestal 9；
The primary and secondary ring hangs circle 7 and links up with suspension centre for crane, realizes latent device and the lifting for laying recyclable device of the invention；
The lifting frame 6 and braced frame 3 are the rectangular frame consolidated by bolt；
Referring to attached drawing 9-10, the lifting pedestal 9 is the substrate that latent device lay recycling, and lifting pedestal 9, which is equipped with, to be used
The bindiny mechanism of Yu Yuqian device connection and the mounting hole for adapting to latent device installation；The shape of pedestal 9 is lifted by crane according to the latent device shape of target
Carry out practical adjustment；When target dive device be flat structure when, lifting pedestal 9 be plate armature, lifting pedestal 9 upper surface
Be surrounded by a circle camel back, as shown in Figure 9；When target dive device be cylindrical structure when, lifting pedestal 9 include: two sides
Plate, two connecting rods and more than two U-shaped framves；More than two U-shaped framves are evenly distributed on two along the length direction of connecting rod and put down
In capable connecting rod, two side plates are separately mounted to the both ends of two parallel connecting rods, and two side plates distinguish outward bending
Set angle, as shown in Figure 10；The set angle is less than 90 °；Camel back is equipped on side plate and U-shaped frame；
Integrated connection relationship is as follows: one end of four identical lifting chains 8 passes through Fastener for climbing mountain and primary and secondary ring hangs 7 son of circle
The butterfly button of ring connects, and the Fastener for climbing mountain of the other end is mounted with the eye bolt on lifting frame 6 upper surface four angle respectively, lifting
It opens the upper surface of chain 5 and braced frame 3 by four identical hold and mounts in the frame angle of 6 lower end surface four；Under braced frame 3
End face is mounted along the equally distributed circle cage chain 4 in its four side with lifting pedestal 9 by four or more, and makes 3 place of braced frame
Face is parallel with lifting 9 place face of pedestal, and four or more 4 envelopes of circle cage chain are at tubular structure, in the appearance of the tubular structure
Face is equipped with along its circumferentially distributed more than two circle cage chain link 2, and the circle cage chain link 2 can prevent latent device in removal process
Skid off；Wherein, Fastener for climbing mountain and braced frame 3 mounting for opening chain 5 by its end are held, circle cage chain 4 passes through its end
Fastener for climbing mountain is connect with the camel back on lifting pedestal 9；
Lifting the distance between the 6 place face of frame and 3 place face of braced frame are greater than the diameter or thickness of the latent device of target
The 2 times or more of degree；
Referring to attached drawing 13, the present invention, which can also remove to hold, opens chain 5 and lifting frame 6, one end of lifting chain 8 and primary and secondary
Ring hangs 7 connection of circle, and the other end is connect with braced frame 3；
The present invention is by adjusting lifting chain 8 or holds position and adjustment of the Fastener for climbing mountain for opening chain 5 with the mounting of braced frame 3
Lifting chain 8 holds and opens the presence or absence of chain 5 or the length and number, the lifting frame that enclose cage chain 4, and then adjusts the knot of the device
Structure size, so that is be optimal for different sea situation environment lays recovering effect.
Recovery method is laid based on what a kind of adjustable latent device suspension centre external hanging type of structure laid recyclable device, it is specific to grasp
Steps are as follows for work:
Referring to attached drawing 12, when without lifting operation, crane lifting circle cage chain 4 is separated with lifting pedestal 9；Lift by crane bottom
Seat 9 is mounted below latent device；
When laying untethered latent device:
The first step, crane hang circle 7 by hanging primary and secondary ring and component of the device in addition to lifting by crane pedestal 9 are moved to latent device
Above position, after decentralization to setting position, circle cage chain 4 is mounted with the lifting pedestal 9 being mounted below latent device, is risen after the completion
Hang in water；
Second step, after transferring latent device to set depth, latent device, which stays, bubbles through the water column, and latent device is separated with lifting pedestal 9, then borrows
Recycling tool, which is laid, with external auxiliary or directly manipulates latent device or latent device autonomous navigation holds the gap opened between chain 5 from two
Gap between place or two lifting chains 8 is driven out to；
When recycling untethered latent device:
The first step, the untethered latent device of control is held from two opens the sky that circle 4 envelope of cage chain is driven into the gap between chain 5
Between, device is dived under the constraint of the side plate and U-shaped frame of lifting pedestal 9, is finally parked on lifting pedestal 9；
Second step, crane hang circle 7 for the lifting water outlet of latent device by hanging primary and secondary ring；
Third step, after crane moves the device into setting position, crane decentralization makes lifting pedestal 9 land, and separates circle
Cage chain 4 and lifting pedestal 9；
Component in addition to lifting by crane pedestal 9 is moved to clear position, completes untethered latent device by the 4th step, crane
Recycling；
Referring to attached drawing 11, when laying device latent with cable:
The first step will hold and open chain 5 and separate with braced frame 3, and will dive device with cable and lifting pedestal 9 moves to support together
In the central area of frame 3；
Second step, crane hang circle 7 by hanging primary and secondary ring, and lifting frame 6 and lifting chain 8 are moved on latent device position
The cable of latent device is placed in after adjacent two hold and open between chain 5 to setting position by side, decentralization, by braced frame 3 with hold
Open the mounting of chain 5；
Primary and secondary ring is hung and moves on to setting position on circle 7 by third step, crane, by circle cage chain 4 and is mounted below latent device
It lifts by crane pedestal 9 to mount, rises hang in water after the completion；
4th step, after transferring latent device to set depth, latent device, which stays, bubbles through the water column, and latent device is separated with lifting pedestal 9, then borrows
Recycling tool, which is laid, with external auxiliary or directly manipulates latent device or latent device autonomous navigation holds the gap opened between chain 5 from two
Gap between place or two lifting chains 8 is driven out to；
When recycling band cable dives device:
The first step holds from two with cable device of diving and to open the gap between chain 5 and drive into the space of circle 4 envelope of cage chain
Afterwards, device will be dived under the constraint of the side plate of lifting pedestal 9 with cable, natural stability maintenance is fixed on lifting pedestal 9；
Second step is discharged after packing up the cable of latent device；
Third step, after crane moves the device into setting position, crane decentralization makes lifting pedestal 9 land, and separates circle
Cage chain 4 and lifting pedestal 9；
4th step, crane continue to transfer, and after frame 3 to be supported lands, separate braced frame 3 and hold and open chain 5；
5th step, crane will lift by crane frame 6 and lifting chain 8 and be moved to clear position, complete and dive the recycling of device with cable.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (6)
1. a kind of adjustable latent device suspension centre external hanging type of structure lays recyclable device characterized by comprising primary and secondary ring hang circle (7),
Lifting frame (6), braced frame (3), holds and opens chain (5), circle cage chain (4), circle cage chain link (2) and lift by crane at lifting chain (8)
Pedestal (9)；
Lifting frame (6) and braced frame (3) are the rectangular frame consolidated by bolt；
Lifting pedestal (9) be the substrate that latent device lay recycling, and lifting pedestal (9) with latent device equipped with for connecting
Bindiny mechanism and the mounting hole for adapting to latent device installation；
Integrated connection relationship is as follows: one end of four identical lifting chains (8) is hung circle (7) with primary and secondary ring and is connect, the other end
Four angles with lifting frame (6) upper surface mount respectively, and four angles of lifting frame (6) lower end surface identical are held by four
The upper surface for opening chain (5) and braced frame (3) mounts；The lower end surface of braced frame (3) is by four or more along its four Bian Jun
The circle cage chain (4) of even distribution and lifting pedestal (9) mounting, and make face where braced frame (3) place face and lifting pedestal (9)
In parallel, four or more circle cage chain (4) envelopes are equipped in the outer surface of the tubular structure and circumferentially divide along it at tubular structure
More than one circle cage chain link (2) of cloth；
When target dive device be cylindrical structure when, lifting pedestal (9) includes: two side plates, two connecting rods and more than two U-shaped
Frame；U-shaped frame is evenly distributed in two parallel connecting rods, and two side plates are separately mounted to the two of two parallel connecting rods
End, and two side plates distinguish outward bending set angle；The set angle is less than 90 °；Camel is equipped on side plate and U-shaped frame
Back；
When target dive device be flat structure when, lifting pedestal (9) be plate armature, lifting pedestal (9) surface be equipped with
Camel back.
2. a kind of adjustable latent device suspension centre external hanging type of structure as described in claim 1 lays recyclable device, which is characterized in that institute
The one end for stating lifting chain (8) is connect by the Fastener for climbing mountain of its end with the butterfly button that primary and secondary ring hangs circle (7) subring；The other end is logical
The eye bolt crossed on the Fastener for climbing mountain and lifting (6) four angles of frame of its end mounts.
3. a kind of adjustable latent device suspension centre external hanging type of structure as described in claim 1 lays recyclable device, which is characterized in that institute
The Fastener for climbing mountain for holding and opening chain (5) by its end is stated to mount with braced frame (3).
4. a kind of adjustable latent device suspension centre external hanging type of structure as described in claim 1 lays recyclable device, which is characterized in that institute
Circle cage chain (4) is stated to connect by the Fastener for climbing mountain of its end with the camel back in lifting pedestal (9).
5. the adjustable latent device suspension centre external hanging type of a kind of structure as described in claim 2,3 or 4 lays recyclable device, feature exists
In, by adjusting lifting chain (8) or hold open chain (5) Fastener for climbing mountain and braced frame (3) mounting position and adjustment lift by crane
Chain (8) holds the length and the presence or absence of number, lifting frame (6) for opening chain (5) or enclosing cage chain (4), and then adjusts the device
Structure size.
6. laying recycling side based on what a kind of adjustable latent device suspension centre external hanging type of structure described in claim 1 laid recyclable device
Method, which is characterized in that specific step is as follows:
When without lifting operation, crane lifting circle cage chain (4) is separated with lifting pedestal (9)；Pedestal (9) are lifted by crane positioned at latent
Below device；
When laying untethered latent device:
The first step, crane by hang primary and secondary ring hang circle (7) component in addition to lifting by crane pedestal (9) of the device is moved to it is latent
Above device position, after decentralization to setting position, cage chain (4) will be enclosed and mounted with the lifting pedestal (9) being mounted below latent device, it is complete
Cheng Houqi hangs in water；
Second step, after transferring latent device to set depth, latent device, which stays, bubbles through the water column, and latent device is separated with lifting pedestal (9), then borrows
External auxiliary lays recycling tool or directly the latent device of manipulation or latent device autonomous navigation hold the gap opened between chain (5) from two
Gap between place or two lifting chains (8) is driven out to；
When recycling untethered latent device:
The first step, the untethered latent device of control is held from two opens the space that circle cage chain (4) envelope is driven into the gap between chain (5)
After interior, finally it is parked in lifting pedestal (9)；
Second step, crane hang circle (7) for the lifting water outlet of latent device by hanging primary and secondary ring；
Third step, after crane moves the device into setting position, crane decentralization makes lifting pedestal (9) land, and separates circle cage
Chain (4) and lifting pedestal (9)；
Component in addition to lifting by crane pedestal (9) is moved to clear position by the 4th step, crane, completes returning for untethered latent device
It receives；
When laying device latent with cable:
The first step will hold and open chain (5) and separate with braced frame (3)；
Second step, crane hang circle (7) by hanging primary and secondary ring, and lifting frame (6) and lifting chain (8) are moved to latent device position
The cable of latent device is placed in after adjacent two hold and open between chain (5), by braced frame to setting position by top, decentralization
(3) with hold open chain (5) mounting；
Primary and secondary ring is hung and moves on to setting position on circle (7) by third step, crane, by circle cage chain (4) and is mounted below latent device
Pedestal (9) mounting is lifted by crane, rises hang in water after the completion；
4th step, after transferring latent device to set depth, latent device, which stays, bubbles through the water column, and latent device is separated with lifting pedestal (9), then borrows
External auxiliary lays recycling tool or directly the latent device of manipulation or latent device autonomous navigation hold the gap opened between chain (5) from two
Gap between place or two lifting chains (8) is driven out to；
When recycling band cable dives device:
The first step holds from two with cable device of diving and to open the gap between chain (5) and drive into the space of circle cage chain (4) envelope
Afterwards, the device that will dive with cable is mounted in lifting pedestal (9)；
Second step is packed up after the cable of latent device and hangs emersion water；
Third step, after crane moves the device into setting position, crane decentralization makes lifting pedestal (9) land, and separates circle cage
Chain (4) and lifting pedestal (9)；
4th step, crane continue to transfer, and after frame (3) to be supported lands, separate braced frame (3) and hold and open chain (5)；
5th step, crane will lift by crane frame (6) and lifting chain (8) and be moved to clear position, complete and dive the recycling of device with cable.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611142404.XA CN106744258B (en) | 2016-12-12 | 2016-12-12 | A kind of adjustable latent device suspension centre external hanging type of structure lays recyclable device and method |
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| CN201611142404.XA CN106744258B (en) | 2016-12-12 | 2016-12-12 | A kind of adjustable latent device suspension centre external hanging type of structure lays recyclable device and method |
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| CN108726362B (en) * | 2018-06-06 | 2019-11-22 | 中国人民解放军海军工程大学 | A kind of UUV capture mechanism for hanging recovery system based on single armed |
| CN110466688B (en) * | 2019-08-27 | 2023-11-03 | 珠海云洲智能科技股份有限公司 | Navigation equipment cloth recycling system and navigation equipment cloth recycling method |
| CN110823490B (en) * | 2019-11-20 | 2021-05-11 | 哈尔滨工程大学 | Comprehensive guarantee platform for underwater explosion test of submersible vehicle model |
| CN113003387A (en) * | 2021-04-07 | 2021-06-22 | 长江重庆航道工程局 | Double-layer lifting appliance for lifting caisson and lifting method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5320394A (en) * | 1992-08-17 | 1994-06-14 | Urbank Vincent A | Lift harness for small watercraft deployable by one person |
| JP3350892B2 (en) * | 1995-04-17 | 2002-11-25 | 防衛庁技術研究本部長 | Underwater vehicle lifting device |
| CN202379064U (en) * | 2011-12-26 | 2012-08-15 | 中国科学院沈阳自动化研究所 | Launching and retrieval device for autonomous underwater vehicle |
| CN104044992B (en) * | 2014-05-27 | 2017-06-16 | 北京航天发射技术研究所 | The big vertical hoisting sling of rigidity frame structure of oblique pull suspension cable type and assembling suspender |
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