CN106926994A - A kind of safe jettison system of underwater robot - Google Patents
A kind of safe jettison system of underwater robot Download PDFInfo
- Publication number
- CN106926994A CN106926994A CN201511018316.4A CN201511018316A CN106926994A CN 106926994 A CN106926994 A CN 106926994A CN 201511018316 A CN201511018316 A CN 201511018316A CN 106926994 A CN106926994 A CN 106926994A
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- China
- Prior art keywords
- underwater robot
- bulb
- throwing
- runner
- jettison system
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
The present invention relates to jettison system, specifically a kind of safe jettison system of underwater robot passes torque to throwing idling axle after direct current generator slows down through planetary reducer, drives runner to be taken turns with opening and rotate simultaneously；The bulb of bulb supporting piece is slided in the annular groove between runner and opening wheel, and until opening wheel turns to bulb position, due to losing the constraint of annular groove, under the elastic force effect of spring leaf, bulb supporting piece is with lead while being left for bulb supporting piece；After a part of quality is abandoned, the weight of its own is less than buoyancy to underwater robot, therefore underwater robot can emerge safely.The present invention has simple and compact for structure, and Module functionality is strong, and low cost, appearance and size is small, and underwater sealing is functional, throws and carries safe and reliable, repeats application, it is easy to the advantages of on underwater robot.
Description
Technical field
The present invention relates to jettison system, specifically a kind of underwater robot is thrown carry safely
Put.
Background technology
Underwater robot is a kind of movable dress under water that can under water perform particular task
Put.Underwater robot is divided into manned underwater vehicle and the major class of unmanned submersible two according to whether manned,
Unmanned submersible is divided into according to the difference of the contact method between water surface support system has cable under water
Robot (ROV) and the untethered class of autonomous robot (AUV) two under water.Due to underwater operation ring
The particularity in border, it is desirable to which underwater robot has more high stability, reliability and security；Its
The security of middle underwater robot is most important, is to prevent underwater robot ultra-deep from destroying or losing
Last one safety curtain for losing, reliable safety device can to greatest extent ensure operator
Member and the safety of underwater robot.There is critical failure or in face of special abnormality in robot under water
When environment, start safety device, it can be ensured that underwater robot emerges.It is most of
Buoyancy of the weight of underwater robot with it in water is approximately uniform, increases underwater robot
Buoyancy or mitigate underwater robot weight both approaches can make underwater
People emerges.Realize that the device of emergent floating is referred to as peace by mitigating the method for own wt
Full jettison system, safe jettison system according to its operation principle it is different can be divided into again it is mechanical,
The various ways such as electromagnet absorption type, high temperature Fuse Type.Current underwater robot both at home and abroad
Safe jettison system species is various, but many table structures are more complicated, and relatively costly, versatility is not strong.
The content of the invention
In order to solve the above mentioned problem that existing safe jettison system is present, it is an object of the invention to
There is provided a kind of underwater robot safe jettison system.The safe jettison system of the underwater robot
It is adapted to be mounted on underwater robot, ensures its operation or navigation safety.
The purpose of the present invention is achieved through the following technical solutions：
The present invention include motor fixing seat, sealing seat, spring leaf, throwing idling axle, runner,
Opening wheel, bulb supporting piece, lead, direct current generator and planetary reducer, wherein direct current
Machine and planetary reducer are plugged in motor fixing seat successively, sealing seat and the electricity
Machine fixed seat is tightly connected, and the throwing idling axle is located at sealing seat sealing grafting, and one end
It is connected with sealing seat rotation in the sealing seat, by bearing, it is described to throw the another of idling axle
One end is passed by sealing seat, is connected with the runner, one end of the throwing idling axle and planet
Gear reduction unit output shaft is connected, drives rotation by the direct current generator and planetary reducer
Turn；The runner is provided with thread spindle, the opening rotated with runner is connected with the thread spindle and is taken turns,
Annular groove is provided with the opening wheel and runner opposite face, the annular groove of the opening wheel is provided with open-minded
Mouthful；Bulb supporting piece is installed, the bulb of the bulb supporting piece is placed in runner and opens on the lead
In the annular groove of mouth wheel；The side of the spring leaf is set on sealing seat, and opposite side is connected to
The medial surface of the lead, runner and opening wheel synchronous rotary are driven by the throwing idling axle,
The gap goes to the position of the bulb, the bullet that the bulb supporting piece and lead pass through spring leaf
Power is realized throwing and carried.
Wherein：The safe jettison system is sealed entirely through motor fixing seat and underwater robot
Connection, the direct current generator, planetary reducer and throwing idling axle are coaxially connected；The throwing
One end of idling axle is provided with U-shaped hole, and circle is inserted with the output shaft of the planetary reducer
Pin, the output shaft of the planetary reducer is inserted into throwing idling axle, the straight pin
It is placed in the U-shaped hole, the two ends of the straight pin are connected to the both sides of the U-shaped hole respectively
Wall inner surface；
The bearing is thrust ball bearing and deep groove ball bearing, is respectively sleeved at the throwing idling axle
One end, the both sides shaft shoulder of the throwing idling axle one end is respectively by the thrust ball bearing and deep-groove ball
Bearings；Bearing support block is provided between the sealing seat and motor fixing seat, the bearing
The foundation ring phase fit of the side endoporus of support base and the thrust ball bearing, outer surface and the axle
Seal receptacle phase fit, the opposite side of the bearing support block is nested with the seam of motor fixing seat
Close, realize that the motor fixing seat is coaxial with sealing seat；The motor fixing seat is cylinder
Revolving body, axial cross section be it is hollow "T"-shaped, the two "T"-shaped surfaces respectively with water
Robot, sealing seat are tightly connected；The sealing seat is the cylinder of hollow structure inside
Revolving body, one end is tightly connected with the motor fixing seat, the other end and the throwing idling axle it
Between by twice piston seal form realize be tightly connected；
The runner is coaxially mounted to throw on idling axle, and centre axially extends, forms the spiral shell
Line axle, the opening wheel is threadedly connected on the thread spindle；The both sides of the spring leaf are provided with
Interstitial hole, the centre bore of the spring leaf side through sealing seat, by screw by the axle
Seal receptacle is fixed in motor fixing seat with spring leaf, and the bulb of the bulb supporting piece is by spring leaf
The centre bore of opposite side is passed；Interstitial hole is provided with the lead, the bulb supporting piece is passed through should
Interstitial hole, and be fixed together with lead by self-locking nut；The bulb supporting piece is inverted
"T"-shaped, the end of the "T"-shaped vertical edge is the bulb, the portion of the "T"-shaped vertical edge
Divide the external screw thread for being formed with and being threadedly coupled with the self-locking nut.
Advantages of the present invention is with good effect：
1. the present invention is by motor fixing seat, bearing support block, sealing seat, spring leaf, throwing
Idling axle, runner, opening wheel, bulb supporting piece, lead, direct current generator, planetary gear speed-reduction
The parts such as device form an entirety by rational connection, and independence is strong, is easy to overall peace
Dress, dismounting, realizes good modularized design.
2. the present invention by direct current generator, with idling axle three is thrown coaxially go here and there by planetary reducer
Connection, without other adapter units, mechanism is simple, and energy consumption is low.
3. the present invention will throw the axial water pressure power born of idling axle and be transferred to thrust ball bearing
On so that the present invention can bear bigger water pressure, can adapt to big depth underwater robot
Pressure-resistant demand.
4. design feature of the invention determines that direct current generator is either rotated forward or reverse
Rotation, safe jettison system can run well, and pattern is used alternatingly using rotating can be big
The reliability of width raising work.
5. the present invention will throw and carry lead and bulb supporting piece as one after throwing load instruction is performed
Entirety abandoned, when next time uses, reinstall bulb supporting piece with throw load lead it is very convenient,
Reusability is very strong.
6. low cost of the present invention, simple structure, appearance and size is small, lightweight, it is easy to install
Under water in robot.
Brief description of the drawings
Fig. 1 is internal structure schematic diagram of the invention；
Wherein：1 is motor fixing seat, and 2 is bearing support block, and 3 is sealing seat, and 4 is bullet
Reed, 5 to throw idling axle, and 6 is runner, and 7 take turns for opening, and 8 is bulb supporting piece, and 9 is lead
Block, 10 is direct current generator, and 11 is planetary reducer, and 12 is screw A, and 13 is O shapes
Sealing ring A, 14 is O-ring seals B, and 15 is straight pin, and 16 is screw B, and 17 is to push away
Power ball bearing, 18 is deep groove ball bearing, and 19 is O-ring seals C, and 20 is screw C, 21
It is self-locking nut A, 22 is self-locking nut B, and 23 is annular groove, and 24 is gap, and 25 is screw thread
Axle.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, including motor fixing seat 1, bearing support block 2, sealing seat 3,
Spring leaf 4, throw idling axle 5, runner 6, opening wheel 7, bulb supporting piece 8, lead 9, straight
Stream motor 10 and planetary reducer 11, wherein motor fixing seat 1 are cylindrical revolving body,
Axial cross section is hollow "T"-shaped, and the "T"-shaped both side surface is provided with O-ring groove,
The O shapes sealing being tightly connected with underwater robot pressure hull is equipped with the O-ring groove of side
Circle A13, is equipped with close with the O shapes that sealing seat 3 is tightly connected in the O-ring groove of opposite side
Seal B14；Direct current generator 10 and planetary reducer 11 are plugged in motor fixing seat successively
In 1, using it is coaxial it is direct-connected by the way of connect.
Sealing seat 3 is the cylindrical revolving body of hollow structure inside, motor fixing seat 1 and axle
Seal receptacle 3 is cylindrical revolving body, energy high pressure resistant (70MPa).One end of sealing seat 3
Seal affixed with motor fixing seat 1 is stated, twice piston is passed through between the other end and throwing idling axle 5
Seal form (i.e. two O-ring seals C19) is realized being tightly connected, ensures dynamic sealing
Reliability, and ensure the sealing under high pressure.Throw idling axle 5 and seal grafting with sealing seat 3,
And one end is interior, close with axle by thrust bearing 17 and deep groove ball bearing 18 positioned at sealing seat 3
Envelope seat 3 rotates connection, and the other end for throwing idling axle 5 passes by sealing seat 3, be connected with and turn
Wheel 6.Thrust ball bearing 17 and deep groove ball bearing 18, are respectively sleeved at and throw the one of idling axle 5
End, the both sides shaft shoulder of the one end of throwing idling axle 5 is respectively by thrust ball bearing 17 and deep-groove ball axle
18 supports are held, both ensure that throwing idling axle 5 is coaxial with sealing seat 3, balances big depth again
Hydraulic pressure axial force under degree (7000m), it is to avoid axial force transmission to planetary reducer
It is damaged on 11 output shaft.Axle is provided between sealing seat 3 and motor fixing seat 1
Support base 2 is held, the side endoporus of the bearing support block 2 and the foundation ring phase of thrust ball bearing 17
Fit, outer surface and sealing 3 phase fits of seat, opposite side and the motor of bearing support block 2 are consolidated
The seam phase fit of reservation 1, realizes that motor fixing seat 1 is coaxial with sealing seat 3.Throw idling
One end of axle 5 is provided with U-shaped hole, and cylinder is inserted with the output shaft of planetary reducer 11
Pin 15, the output shaft of planetary reducer 11 is inserted into throwing idling axle 5, straight pin 15
It is placed in U-shaped hole, the two ends of the straight pin 15 are connected in the two side of U-shaped hole respectively
Surface, realizes that direct current generator 10 and planetary reducer 11 drive throwing idling axle 5 to rotate.
Runner 6 is coaxially mounted to throw the other end of idling axle 5, and centre axially extends, formed
Thread spindle 25, opening wheel 7 is threadedly connected on the thread spindle 25, is rotated with runner 6.Open
Annular groove 23 is provided with mouth wheel 7 and the opposite face of runner 6, the annular groove 23 of opening wheel 7 is provided with
Gap 24.
The both sides of spring leaf 4 are provided with interstitial hole, and the centre bore of side passes through sealing seat 3,
Sealing seat 3 is fixed in motor fixing seat 1 with spring leaf 4 by screw；Spring leaf 4
Opposite side be connected to the medial surface of lead 9.Interstitial hole is provided with lead 9, the interstitial hole is
Shoulder hole.Bulb supporting piece 8 is inverted "T"-shaped, and the end of the "T"-shaped vertical edge is bulb,
The part of "T"-shaped vertical edge is formed with external screw thread；Bulb supporting piece 8 passes through the interstitial hole of lead 9,
And be fixed together with lead 9 by self-locking nut, the bulb of bulb supporting piece 8 is by spring leaf 4
The centre bore of opposite side is passed, and is placed in the annular groove 23 of runner 6 and opening wheel 7.Pass through
Throwing idling axle 5 drives runner 6 and opening 7 synchronous rotaries of wheel, gap 24 to go to the position of bulb
Put, bulb supporting piece 8 and lead 9 are realized throwing and carried by the elastic force of spring leaf 4.
The present invention can be directly inserted into underwater as an entirety by motor fixing seat 1
On the pressure hull of people, and fixed by nut.
Installation process of the invention is：
Direct current generator 10 and planetary reducer 11 using it is coaxial it is direct-connected by the way of be connected, will
Direct current generator 10 is inserted into motor fixing seat 1 simultaneously with planetary reducer 11, by row
The seam hole phase fit of the flange positioning spigot of star gear reduction unit 11 and motor fixing seat 1,
Ensure that planetary reducer 11 is coaxial with motor fixing seat 1, by screw A12 by planet
Gear reduction unit 11 is fixed in motor fixing seat 1；O-ring seals A13 is set in electricity
In the O-ring groove in the left side of machine fixed seat 1, between safe jettison system and underwater robot
Sealing；O-ring seals B14 is set in the O-ring groove on the right side of motor fixing seat 1,
For the sealing between motor fixing seat 1 and sealing seat 3.
Two O-ring seals C19 be respectively sleeved at throw idling axle 5 two radial direction O-rings it is close
In sealing groove, for throwing the dynamic sealing between idling axle 5 and sealing seat 3.By deep groove ball bearing
18 are set on the right side shaft shoulder for throwing the one end of idling axle 5, for throwing when idling axle 5 rotates
Radial support, it is ensured that throw coaxial between idling axle 5 and sealing seat 3；By thrust ball bearing
17 are set on the left side shaft shoulder for throwing the one end of idling axle 5, for will throw the water on idling axle 5
Pressure axial force is transferred on bearing support block 2, it is to avoid the output shaft of planetary reducer 11
Bear axial force.Then idling axle 5 will be thrown together with deep groove ball bearing 18 and thrust ball bearing 17
It is inserted into together in sealing seat 3 so that throw the sealing surface and sealing seat 3 of idling axle 5
Sealing surface set gets togather.Then by the right side endoporus of bearing support block 2 and thrust ball bearing 17
Foundation ring phase fit, by the left hole phase fit of the outer surface of bearing support block 2 and sealing seat 3；
Straight pin 15 is inserted into the cross-drilled hole of the output shaft of planetary reducer 11, it is ensured that cylinder
The equal length of the both sides extension of pin 15；Then by the output shaft of planetary reducer 11
It is inserted into throwing idling axle 5, and causes that straight pin 15 is included in the U for throwing the left side of idling axle 5
In shape hole, while so that the left side of axle support base 2 and the right side seam phase fit of motor fixing seat 1,
Ensure that motor fixing seat 1 is coaxial with sealing seat 3.
The Left-side center hole of spring leaf 4 through sealing seat 3, and by 4 screw B16 by axle
Seal receptacle 3 is fixed in motor fixing seat 1 with spring leaf 4.The right-hand member insertion of idling axle 5 will be thrown
To in the left hole of runner 6, runner 6 is turned clockwise, until throwing the transverse direction on idling axle 5
Screwed hole is transversely mounted hole and aligns with runner 6；Then screw C20 is passed through the transverse direction of runner 6
Mounting hole is simultaneously engaged with the lateral threaded holes thrown on idling axle 5, tightens screw C20, will throw
Idling axle 5 is fixed together with runner 6.Then 7 interstitial holes are taken turns into the right side of runner 6 in opening
Thread spindle 25 is engaged, and opening wheel 7 is fixed on runner 6 by self-locking nut A21.
Bulb supporting piece 8 is passed through the interstitial hole of lead 9, and is fixed both by self-locking nut B22
Together.Start direct current generator 10, runner 6 is rotated simultaneously with opening wheel 7, when opening
When the gap of wheel 7 faces spring leaf 4 down, stop direct current generator 10；By bulb supporting piece 8
Through the right side interstitial hole of spring leaf 4, and bulb is placed between runner 6 and opening wheel 7
In the annular groove 23 of formation, keep the position of bulb supporting piece 8 constant, start direct current generator 10,
Stop direct current when the gap 24 on opening wheel 7 rotates 180 °, i.e. gap 24 upward
Machine 10.
Operation principle of the invention is
, when critical fault occur or facing a danger, emergency flight control system is (originally for underwater robot
The emergency flight control system of invention is prior art) start direct current generator 10；Direct current generator 10 is passed through
Cross and throwing idling axle 5 is passed torque to after planetary reducer 11 slows down, throw idling axle 5
Runner 6 is passed torque to opening wheel 7；Runner 6 is common as an entirety with opening wheel 7
With rotation, and bulb supporting piece 8 and lead 9 by gravity and the elastic force of spring leaf 4 due to being made
Rotated together with opening wheel 7 with runner 6 will not be followed；The bulb of bulb supporting piece 8 can turn
Slided in annular groove 23 between wheel 6 and opening wheel 7, until the position of gap 24 of opening wheel 7
When going to the bulb position of bulb supporting piece 8, bulb loses the restriction effect of annular groove 23, bulb
Supporting piece 8 will take off with lead 9 under the collective effect of the gravity of itself and the elastic force of spring leaf 4
From；After bulb supporting piece 8 departs from lead 9, the weight of whole underwater robot will diminish,
Buoyancy is more than the gravity of itself, and underwater robot will emerge.
The present invention throws load mode, simple and compact for structure, with low cost, work peace using mechanical
It is complete reliable, it is adapted to be mounted on underwater robot, ensure its operation or navigation safety.
Claims (10)
1. the safe jettison system of a kind of underwater robot, it is characterised in that：It is solid including motor
Reservation (1), sealing seat (3), spring leaf (4), throw idling axle (5), runner (6),
Opening wheel (7), bulb supporting piece (8), lead (9), direct current generator (10) and planetary gear
Decelerator (11), wherein direct current generator (10) and planetary reducer (11) are inserted successively
It is located in motor fixing seat (1), sealing seat (3) and the motor fixing seat (1)
It is tightly connected, throwing idling axle (5) seals grafting, and one end position with sealing seat (3)
It is connected with sealing seat (3) rotation in sealing seat (3), by bearing, it is described
The other end for throwing idling axle (5) is passed by sealing seat (3), is connected with the runner (6),
It is described throw idling axle (5) one end be connected with planetary reducer (11) output shaft, it is logical
Cross the direct current generator (10) and planetary reducer (11) drives rotation；The runner
(6) thread spindle (25) is provided with, is connected with the thread spindle (25) and is revolved with runner (6)
Opening wheel (7) for turning, annular groove is provided with opening wheel (7) and runner (6) opposite face
(23), the annular groove (23) of opening wheel (7) is provided with gap (24)；The lead
(9) bulb supporting piece (8) is installed, the bulb of the bulb supporting piece (8) is placed in runner (6) on
And in the annular groove (23) of opening wheel (7)；It is close that the side of the spring leaf (4) is set in axle
In envelope seat (3), opposite side is connected to the medial surface of the lead (9), is carried by described throwing
Rotating shaft (5) drives runner (6) and opening wheel (7) synchronous rotary, the gap (24)
The position of the bulb is gone to, the bulb supporting piece (8) and lead (9) are by spring leaf (4)
Elastic force realize throw carry.
2. the safe jettison system of the underwater robot as described in claim 1, its feature exists
In：The safe jettison system is sealed entirely through motor fixing seat (1) and underwater robot
Connection, the direct current generator (10), planetary reducer (11) and throwing idling axle (5)
Coaxial series connection.
3. the safe jettison system of the underwater robot as described in claim 1 or 2, it is special
Levy and be：Described one end for throwing idling axle (5) is provided with U-shaped hole, the planetary gear speed-reduction
Straight pin (15), the planetary reducer (11) are inserted with the output shaft of device (11)
Output shaft be inserted into throwing idling axle (5), the straight pin (15) is placed in the U
In shape hole, the two ends of the straight pin (15) are connected to table in the two side of the U-shaped hole respectively
Face.
4. the safe jettison system of the underwater robot as described in claim 1 or 2, it is special
Levy and be：The bearing is thrust ball bearing (17) and deep groove ball bearing (18), is covered respectively
It is located at one end of throwing idling axle (5), the both sides shaft shoulder point of throwing idling axle (5) one end
Do not supported by the thrust ball bearing (17) and deep groove ball bearing (18)；The sealing seat
(3) bearing support block (2) is provided with and motor fixing seat (1) between, the bearing support block (2)
The foundation ring phase fit of side endoporus and the thrust ball bearing (17), outer surface and the axle
Seal receptacle (3) phase fit, opposite side and the motor fixing seat (1) of the bearing support block (2)
Seam phase fit, realize that the motor fixing seat (1) and sealing seat (3) are coaxial.
5. the safe jettison system of the underwater robot as described in claim 1 or 2, it is special
Levy and be：The motor fixing seat (1) is cylindrical revolving body, and axial cross section is hollow
"T"-shaped, the two "T"-shaped surfaces are close with underwater robot, sealing seat (3) respectively
Envelope connection.
6. the safe jettison system of the underwater robot as described in claim 1 or 2, it is special
Levy and be：Sealing seat (3) is the cylindrical revolving body of hollow structure inside, one end
It is tightly connected with the motor fixing seat (1), between the other end and throwing idling axle (5)
Realize being tightly connected by twice piston seal form.
7. the safe jettison system of the underwater robot as described in claim 1 or 2, it is special
Levy and be：The runner (6) is coaxially mounted to throw in idling axle (5), and centre is prolonged vertically
Stretch, form the thread spindle (25), opening wheel (7) is threadedly connected to the thread spindle (25)
On.
8. the safe jettison system of the underwater robot as described in claim 1 or 2, it is special
Levy and be：The both sides of the spring leaf (4) are provided with interstitial hole, the spring leaf (4)
The centre bore of side through sealing seat (3), by screw by sealing seat (3) and bullet
Reed (4) is fixed in motor fixing seat (1), the bulb of the bulb supporting piece (8) by
The centre bore of spring leaf (4) opposite side is passed.
9. the safe jettison system of the underwater robot as described in claim 1 or 2, it is special
Levy and be：It is provided with interstitial hole on the lead (9), the bulb supporting piece (8) is through in this
Between hole, and be fixed together with lead (9) by self-locking nut.
10. the safe jettison system of the underwater robot as described in claim 9, its feature exists
In：The bulb supporting piece (8) is inverted "T"-shaped, and the end of the "T"-shaped vertical edge is
The bulb, the part of the "T"-shaped vertical edge is formed with what is be threadedly coupled with the self-locking nut
External screw thread.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511018316.4A CN106926994B (en) | 2015-12-30 | 2015-12-30 | A kind of safe jettison system of underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511018316.4A CN106926994B (en) | 2015-12-30 | 2015-12-30 | A kind of safe jettison system of underwater robot |
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| CN106926994A true CN106926994A (en) | 2017-07-07 |
| CN106926994B CN106926994B (en) | 2018-11-20 |
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Cited By (7)
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| CN109018258A (en) * | 2018-06-20 | 2018-12-18 | 中国海洋大学 | A kind of underwater multistage jettison system and throw support method |
| CN109606592A (en) * | 2018-12-28 | 2019-04-12 | 中国船舶重工集团公司第七0研究所 | A kind of throwing load relieving mechanism |
| CN109606589A (en) * | 2018-11-22 | 2019-04-12 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of manipulator desertion device of manned underwater vehicle |
| CN110979604A (en) * | 2019-12-28 | 2020-04-10 | 中国科学院沈阳自动化研究所 | Emergency load rejection device for underwater robot |
| CN113772056A (en) * | 2021-09-14 | 2021-12-10 | 中国电子科技集团公司电子科学研究院 | Underwater equipment load rejection device |
| CN113884335A (en) * | 2021-10-12 | 2022-01-04 | 上海交通大学 | Mobile sediment trapping apparatus and method |
| CN115583325A (en) * | 2022-10-26 | 2023-01-10 | 中国船舶科学研究中心 | Thruster discarding device special for manned submersible and operation method |
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| CN109018258A (en) * | 2018-06-20 | 2018-12-18 | 中国海洋大学 | A kind of underwater multistage jettison system and throw support method |
| CN109606589A (en) * | 2018-11-22 | 2019-04-12 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of manipulator desertion device of manned underwater vehicle |
| CN109606592A (en) * | 2018-12-28 | 2019-04-12 | 中国船舶重工集团公司第七0研究所 | A kind of throwing load relieving mechanism |
| CN109606592B (en) * | 2018-12-28 | 2021-06-22 | 中国船舶重工集团公司第七一0研究所 | Load rejection releasing mechanism |
| CN110979604A (en) * | 2019-12-28 | 2020-04-10 | 中国科学院沈阳自动化研究所 | Emergency load rejection device for underwater robot |
| CN110979604B (en) * | 2019-12-28 | 2023-08-04 | 中国科学院沈阳自动化研究所 | Emergency load throwing device for underwater robot |
| CN113772056A (en) * | 2021-09-14 | 2021-12-10 | 中国电子科技集团公司电子科学研究院 | Underwater equipment load rejection device |
| CN113884335A (en) * | 2021-10-12 | 2022-01-04 | 上海交通大学 | Mobile sediment trapping apparatus and method |
| CN115583325A (en) * | 2022-10-26 | 2023-01-10 | 中国船舶科学研究中心 | Thruster discarding device special for manned submersible and operation method |
| CN115583325B (en) * | 2022-10-26 | 2023-05-26 | 中国船舶科学研究中心 | Propeller discarding device special for manned submersible and operation method |
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|---|---|
| CN106926994B (en) | 2018-11-20 |
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