CN107264751B - A kind of submarine launch recycling butt-joint locking device and butt-joint locking method - Google Patents
A kind of submarine launch recycling butt-joint locking device and butt-joint locking method Download PDFInfo
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- CN107264751B CN107264751B CN201710703358.4A CN201710703358A CN107264751B CN 107264751 B CN107264751 B CN 107264751B CN 201710703358 A CN201710703358 A CN 201710703358A CN 107264751 B CN107264751 B CN 107264751B
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- connecting rod
- submersible
- hinged
- mounting base
- butt
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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
A kind of submarine launch recycling butt-joint locking device and butt-joint locking method, butt-joint locking device includes cylindrical mounting base, the pressure ring being arranged in below mounting base, the retaining mechanism for being distributed in the link mechanism of mounting base surrounding and being arranged in mounting base, the link mechanism includes first connecting rod, second connecting rod and clamping cylinder, one end of first connecting rod and mounting base are hinged, one end of the other end and second connecting rod is hinged, the other end of second connecting rod and pressure ring are hinged, the cylinder body of clamping cylinder and mounting base are hinged, and the output shaft and second connecting rod of clamping cylinder are hinged；The retaining mechanism includes the driving mechanism of two pieces of movable doorboards arranged symmetrically and driving two pieces of movable doorboards overturning, and the movable doorboard is equipped with groove, and two groove of movable doorboard combines to form through-hole.The present invention locks submersible using butt-joint locking device, inadvertently fall off it will not when laying and recycling, and reduces the probability of submersible damage.
Description
Technical field
Recycling is laid the present invention relates to submersible, especially a kind of submarine launch recycling butt-joint locking device and docking
Locking method.
Background technique
People generally investigate deep-sea using submersible, it is therefore desirable to be laid and be recycled to submersible.Tradition
Way be first to transport submersible and winch on ship；Then aboard ship erect bracket, is lifted submersible using winch
To in the sea；When recycling, submersible is promoted using winch；Submersible is returned on ship finally by manpower.It is existing no special
Door equipment protects the transport and storage of submersible, and submersible is probably damaged during transport and storage；
In addition, submersible, needs to do during on-site construction relevant preparation, operating efficiency is low；Laying and recycling for submersible is tight
Winch is tightly relied on, the safety of operation is to be improved.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of submarine launch recycling butt-joint locking device and docking locks
Clamping method, help to improve submersible lays recovery efficiency, more preferable to the protection of submersible.
In order to solve the above technical problems, the technical scheme is that a kind of submarine launch recycle butt-joint locking device,
Exist including cylindrical mounting base, the pressure ring being arranged in below mounting base, the link mechanism for being distributed in mounting base surrounding and setting
Retaining mechanism in mounting base, the link mechanism include first connecting rod, second connecting rod and clamping cylinder, one end of first connecting rod with
Mounting base is hinged, and one end of the other end and second connecting rod is hinged, and the other end and pressure ring of second connecting rod are hinged, the cylinder body of clamping cylinder
Hinged with mounting base, the output shaft and second connecting rod of clamping cylinder are hinged；The retaining mechanism includes two pieces of symmetrically arranged activities
The driving mechanism of door-plate and driving two pieces of movable doorboards overturning, the movable doorboard are equipped with groove, two groove group of movable doorboard
Conjunction forms through-hole.The present invention locks submersible using butt-joint locking device, makes it that accident will not occur when laying and recycling and falls
It falls, reduces the probability of submersible damage；In addition butt-joint locking device can reduce shaking suffered when submersible is hung.
As an improvement, the driving mechanism includes the first door-hinge and the second door-hinge, guiding for being each passed through two movable doorboards
Seat, guide rod, sliding block, third connecting rod, fourth link, the 5th connecting rod and six-bar linkage, the lower end of the guide rod and sliding block connect
It connects, the upper end of guide rod passes through guide holder, and reset spring is equipped between sliding block and guide holder；It cuts with scissors one end of the third connecting rod
It connects in the side of sliding block, the other end of third connecting rod and one end of fourth link are hinged, the other end of fourth link and first
Axis connection；One end of 5th connecting rod is hinged on the other side of sliding block, the other end of the 5th connecting rod and one end of six-bar linkage
Hingedly, the other end of six-bar linkage is connect with the second door-hinge.
As an improvement, the outer wall of mounting base is set altogether, there are three the link mechanisms of even circumferential distribution.
As an improvement, the link mechanism further includes the hinged ear being arranged in mounting base, one end of the first connecting rod
It is hinged with the cylinder body and hinged ear of clamping cylinder.
As an improvement, the lower section of first connecting rod is arranged in the clamping cylinder.
As an improvement, the diameter of the pressure ring is greater than the diameter of mounting base.
The butt-joint locking method of submarine launch recycling butt-joint locking device of the present invention, comprising the following steps:
Submersible is laid:
(1) winch tightens armored cable and promotes submersible, and the connector of submersible opens two pieces of work of retaining mechanism
Dynamic door-plate, after connector passes through movable doorboard, movable doorboard resets naturally, at this time connector by movable doorboard constraint without
It can move down；
(2) start the clamping cylinder on mounting base periphery, clamping cylinder drives first connecting rod and second connecting rod, keeps pressure ring integrally downward
It moves and is pressed on submersible, submersible is fixed by upward pulling force and downward pressure；
(3) after submersible reaches designated position, driving mechanism drives movable doorboard to open, and winch discharges armored cable,
Submersible is gradually reduced, and completes laying for submersible；
The recycling of submersible:
(4) starting winch promotes submersible, and the connector of submersible opens two pieces of movable doorboards of retaining mechanism, connection
Head pass through movable doorboard after, movable doorboard resets naturally, at this time connector by movable doorboard constraint and cannot move down；
(5) start the clamping cylinder on mounting base periphery, clamping cylinder drives first connecting rod and second connecting rod, keeps pressure ring integrally downward
It moves and is pressed on submersible, submersible is fixed by upward pulling force and downward pressure.
The beneficial effect of the invention compared with the existing technology is:
The present invention locks submersible using butt-joint locking device, inadvertently fall off it will not when laying and recycling,
Reduce the probability of submersible damage；In addition butt-joint locking device can reduce shaking suffered when submersible is hung.
Detailed description of the invention
Fig. 1 is container outside schematic diagram.
Fig. 2 is internal container structural schematic diagram.
Fig. 3 is to lay reclaimer structural schematic diagram.
Fig. 4 is to lay reclaimer decomposition view.
Fig. 5 is U-shaped arm frame structural schematic diagram.
The schematic diagram that Fig. 6 is oscillating arm mechanisms, swing mechanism, butt-joint locking device cooperate.
Fig. 7 is oscillating arm mechanisms, swing mechanism, butt-joint locking device decomposition view.
Fig. 8 is butt-joint locking apparatus structure schematic diagram.
Fig. 9 is butt-joint locking device decomposition view.
Figure 10 is driving mechanism structure schematic diagram.
Specific embodiment
The invention is further explained in the following combination with the attached drawings of the specification.
A kind of container set accepted way of doing sth submarine launch reclaimer, for laying and recycling submersible 7 comprising container
1 and reclaimer is laid in container 1.
As shown in Figure 1, the container 1 is similar with general container 1, it is rectangle, the carrying of container 1 can be used and set
It is standby to be carried.The rear end of the container 1 is equipped with rear dodge gate 12, as the inlet and outlet for laying reclaimer.The packaging
The side of case 1 is equipped with the side dodge gate 11 of disengaging container 1, and operator can be entered in container 1 by side dodge gate to grasp
Lay reclaimer.The top of the container 1 is equipped with lifting ear 15, convenient to carry out integral hoisting to container 1.The collection
The top of vanning 1 be equipped with two along the guide rails 14 of 1 length direction of container setting, the skylight that is arranged between two guide rails 14 and
The slide plate 13 of the skylight is slidably matched and can covered with the guide rail.
As shown in Fig. 2, it is described lay reclaimer include the winch 3 for being wound with armored cable 31, U-shaped arm frame 2, transverse arm,
Oscillating arm mechanisms 4, swing mechanism 5 and butt-joint locking device 6.
As shown in figure 3, the winch 3 is fixed on an end position of the bottom in container 1；The winch 3 includes two pieces
Symmetrically arranged mounting plate, the cylinder being arranged between two pieces of mounting plates and the motor for driving cylinder.The mounting plate is L-shaped,
It includes mounting portion and support portion, and the mounting portion is equipped with screw hole, and the mounting portion is bolted on the bottom of container 1
Portion, winch 3 are integrated with container 1, whole Transporting.Support rod, branch are equipped between the support portion of two pieces of mounting plates
The both ends of strut are connect by bolt with support portion；Reinforcing rib is equipped between the support portion and mounting portion.
As shown in Figure 3,4, the top position in container 1 is arranged in the U-shaped arm frame, and the U-shaped arm frame includes two
Symmetrically and along the casing 21 of 1 length direction of container setting, the hydraulic mechanism and telescopic arm 22 that are arranged in casing 21.It is described to stretch
Contracting arm is in U-shape comprising installing arm 222 and the linking arm 221 that 222 both ends of installing arm are arranged in；The linking arm 221 protrudes into institute
It states in casing 21 and is connect with hydraulic mechanism, telescopic arm 22 can be driven integrally to move forward and backward by hydraulic mechanism.Casing 21
On the one hand setting can protect hydraulic mechanism and telescopic arm, another guiding facilitated as telescopic arm, can smoothly into
Row is flexible.
As shown in Figure 3,4, the transverse arm 8 is arranged the top of winch 3, and the both ends of transverse arm 8 casing 21 with two sides respectively
Connection, the transverse arm 8 are mutually perpendicular to casing 21, and the centre of the transverse arm 8 is equipped with the first pin joint seat 81, first pin joint seat
First pulley 82 is articulated on 81, the armored cable 31 on winch 3 first passes through the first pulley 82 after drawing.
As shown in Figs. 5 to 7, the installing arm 222 of the telescopic arm end is equipped with the first hinged seat 223 and the second hinged seat
224；First hinged seat 223 includes several articulated slabs with 222 vertical welding of installing arm, and the articulated slab is equipped with hinged
Hole.The oscillating arm mechanisms 4 include that the shaft 46 hinged with the first hinged seat 223, the swing arm 42, first hinged with shaft 46 are hydraulic
Cylinder 43 and second hydraulic cylinder 47.The shaft 46 is parallel with installing arm 222, and the both ends of shaft 46 are hinged at hinge hole, shaft
46 are freely rotatable, and the direction of rotation of the swing arm and the direction of rotation of shaft 46 are mutually perpendicular to.The both ends of the shaft 46 point
Not She You third hinged seat 44 and the 4th hinged seat 48, the swing arm 42 be equipped with the 5th hinged seat, the first hydraulic cylinder 43
Cylinder body and the second hinged seat 224 it is hinged, the output shaft and third hinged seat 44 of first hydraulic cylinder 43 are hinged；Second hydraulic cylinder 47
Cylinder body and the 4th hinged seat 48 it is hinged, the output shaft of second hydraulic cylinder 47 with the 5th hinged seat 49 hingedly；The swing arm 42
In the middle position of shaft 46, the first hydraulic cylinder 43 and second hydraulic cylinder 47 are located at the two sides of swing arm 42, first hydraulic cylinder
43 buffering as 42 swing of swing arm, the buffering that second hydraulic cylinder 47 is swung as 42 left and right directions of swing arm.
As shown in fig. 7, the swing arm 42 includes ontology, the top two sides of ontology upwardly extend to form the 6th hinged seat 45,
The shaft 46 is equipped with pin shaft 451 between the 6th hinged seat 45 between two the 6th hinged seats 45, the pin shaft 451 passes through
Shaft 46 enables swing arm 42 to be swung along 46 length direction of shaft.The side of the swing arm 42 is equipped with the second pin joint seat,
Second pulley 41 is articulated on second pin joint seat, the first pulley 82 is in sustained height, armored cable with second pulley 41
31 access second pulley 41 after first pulley 82 and turn at second pulley 41 downward.
As shown in fig. 7, the lower section of swing arm 42 is arranged in the swing mechanism 5, the bottom of swing arm 42 is equipped with fixed plate and supplies back
Rotation mechanism installation.The swing mechanism 5 includes bearing, first gear 51, the second gear 53 engaged with first gear 51 and drives
The motor 52 of dynamic second gear 53.The motor 52 is fixed in the fixed plate of swing arm extension, and 51 sets of the first gear is in axis
The inner ring of the outer ring held, bearing is connect with swing arm, and motor drives first gear 51 by second gear 53.
As shown in Figure 8,9, the butt-joint locking device 6 includes cylindrical mounting base 61, is arranged below mounting base 61
Pressure ring 63, the retaining mechanism that is distributed in the link mechanism 62 of 61 surrounding of mounting base and is arranged in mounting base 61.Described first
Gear 51 is connect with the upper end of mounting base 61, is rotated by 51 drive installation seat 61 of first gear.The present embodiment is in mounting base 61
Outer wall on altogether set there are three even circumferential distribution link mechanism 62,
The link mechanism 62 includes first connecting rod 621, second connecting rod 622, hinged ear and clamping cylinder 623, described hinged
Ear is welded on the outer wall of mounting base, and one end of first connecting rod 621 and the hinged ear of mounting base 61 are hinged, and the other end and second connects
One end of bar 622 is hinged, and the other end and pressure ring 63 of second connecting rod 622 are hinged, the cylinder body of clamping cylinder 623 and the hinge of mounting base 61
Lug is hinged, and the output shaft and second connecting rod 622 of clamping cylinder 623 are hinged；The lower section of first connecting rod, institute is arranged in the clamping cylinder
The diameter for stating pressure ring is greater than the diameter of mounting base；By 623 drive link mechanism of clamping cylinder, pressure ring 63 is made to move up and down.It is described
Retaining mechanism includes the driving mechanism 65 of two pieces of symmetrically arranged movable doorboards 64 and driving two pieces of movable doorboards 64 overturning, described
Movable doorboard 64 is equipped with groove 641, and 64 liang of combinations of groove 641 of movable doorboard form through-hole, after movable doorboard 64 is by overturning,
Through-hole is in the open state, and when two pieces of 64 horizontality of movable doorboard, through-hole is in minimum state, that is, locking state；It can pass through
The state of driving mechanism change movable doorboard 64.As shown in Figure 10, the driving mechanism 65 includes being each passed through two movable doorboards
64 the first door-hinge 650 and the second door-hinge 657, guide holder 651, guide rod 652, sliding block 654, third connecting rod 658, fourth link
659, the lower end of the 5th connecting rod 655 and six-bar linkage 656, the guide rod 652 is connect with sliding block 654, the upper end of guide rod 652
Across guide holder 651, and reset spring 653 is equipped between sliding block 654 and guide holder 651；It cuts with scissors one end of the third connecting rod 658
Connect in the side of sliding block 654, the other end of third connecting rod 658 and one end of fourth link 659 are hinged, fourth link 659 it is another
One end is connect with the first door-hinge 650；One end of 5th connecting rod 655 is hinged on the other side of sliding block 654, the 5th connecting rod 655
The other end and six-bar linkage 656 one end it is hinged, the other end of six-bar linkage 656 is connect with the second door-hinge 657.
The present invention lays recovery method to submersible 7:
Submersible 7 is laid:
(1) one ends wound of armored cable 31 is on winch 3, the other end sequentially pass through first pulley 82, second pulley 41,
It is connect after swing arm and mounting base 61 with the tapered joint head 71 of submersible 7；
(2) winch 3 tightens armored cable 31 and promotes submersible 7, and the connector of submersible 7 opens the two of retaining mechanism
Block movable doorboard 64, after connector passes through movable doorboard 64, movable doorboard 64 resets naturally, and connector is by movable doorboard at this time
64 constraint and cannot move down；
(3) starting the clamping cylinder 623 on 61 periphery of mounting base, clamping cylinder 623 drives first connecting rod 621 and second connecting rod 622,
Pressure ring 63 is set integrally to move down and be pressed on submersible 7, and submersible 7 is consolidated by upward pulling force and downward pressure
It is fixed；
(4) open 1 rear end of container rear dodge gate, start casing 21 in hydraulic cylinder, hydraulic stem drive telescopic arm to
Outer stretching；
(5) telescopic arm stretches out container 1 with oscillating arm mechanisms, swing mechanism, butt-joint locking device and submersible 7 together
Outside, the process that submersible 7 stretches out, winch 3 follow release armored cable 31；
(6) after submersible 7 reaches designated position, driving mechanism drives movable doorboard 64 to open, and winch 3 discharges armouring electricity
Cable 31, submersible 7 are gradually reduced, and complete laying for submersible 7；
The recycling of submersible 7:
(7) starting winch 3 promotes submersible 7, and the connector of submersible 7 opens two pieces of movable doorboards of retaining mechanism
64, connector pass through movable doorboard 64 after, movable doorboard 64 resets naturally, at this time connector by movable doorboard 64 constraint and
It cannot move down；
(8) starting the clamping cylinder 623 on 61 periphery of mounting base, clamping cylinder 623 drives first connecting rod 621 and second connecting rod 622,
Pressure ring 63 is set integrally to move down and be pressed on submersible 7, and submersible 7 is consolidated by upward pulling force and downward pressure
It is fixed；
(9) start the hydraulic cylinder in casing 21, hydraulic dry driving telescopic arm resets, and completes the recycling of submersible 7.
The present invention is by submersible 7 and lays reclaimer and is integrated in container 1, can carry out whole fortune to container 1
It is defeated, help to protect submersible 7 not damaged；Reclaimer whole Transporting is laid, can be used without putting into other equipment i.e.,
Help to improve operating efficiency；When the amplitude of fluctuation for lifting submersible 7 is excessive, slow down submersible 7 using oscillating arm mechanisms
Amplitude of fluctuation enables submersible 7 steadily to go up and down；Submersible 7 is rotated using swing mechanism, to adapt to job requirements.
Claims (5)
1. a kind of submarine launch recycles butt-joint locking device, it is characterised in that:
Including cylindrical mounting base, the pressure ring being arranged in below mounting base, it is distributed in the link mechanism of mounting base surrounding and sets
Set the retaining mechanism in mounting base, the link mechanism includes first connecting rod, second connecting rod and clamping cylinder, and the one of first connecting rod
End is hinged with mounting base, and one end of the other end and second connecting rod is hinged, and the other end and pressure ring of second connecting rod are hinged, clamping cylinder
Cylinder body is hinged with mounting base, and the output shaft and second connecting rod of clamping cylinder are hinged；The retaining mechanism includes two pieces symmetrically arranged
The driving mechanism of movable doorboard and driving two pieces of movable doorboards overturning, the movable doorboard are equipped with groove, and movable doorboard two is recessed
Slot combines to form through-hole；
The driving mechanism includes the first door-hinge and the second door-hinge, guide holder, guide rod, cunning for being each passed through two movable doorboards
Block, third connecting rod, fourth link, the 5th connecting rod and six-bar linkage, the lower end of the guide rod are connect with sliding block, guide rod it is upper
End is equipped with reset spring across guide holder between sliding block and guide holder；One end of the third connecting rod is hinged on the one of sliding block
Side, the other end of third connecting rod and one end of fourth link are hinged, and the other end of fourth link is connect with the first door-hinge；Described
One end of five connecting rods is hinged on the other side of sliding block, and one end of the other end and six-bar linkage of the 5th connecting rod is hinged, six-bar linkage
The other end connect with the second door-hinge；
The outer wall of mounting base have altogether set there are three even circumferential distribution link mechanism.
2. a kind of submarine launch according to claim 1 recycles butt-joint locking device, it is characterised in that: the connecting rod machine
Structure further includes that the hinged ear being arranged in mounting base, one end of the first connecting rod and the cylinder body of clamping cylinder and hinged ear are hinged.
3. a kind of submarine launch according to claim 2 recycles butt-joint locking device, it is characterised in that: the clamping cylinder
The lower section of first connecting rod is set.
4. a kind of submarine launch according to claim 1 recycles butt-joint locking device, it is characterised in that: the pressure ring
Diameter is greater than the diameter of mounting base.
5. a kind of butt-joint locking method of submarine launch recycling butt-joint locking device as described in claim 1, which is characterized in that
The following steps are included:
Submersible is laid:
(1) winch tightens armored cable and promotes submersible, and the connector of submersible opens two pieces of dodge gates of retaining mechanism
Plate, after connector passes through movable doorboard, movable doorboard resets naturally, at this time connector by movable doorboard constraint and cannot be to
Lower movement；
(2) start the clamping cylinder on mounting base periphery, clamping cylinder drives first connecting rod and second connecting rod, moves down pressure ring integrally
And be pressed on submersible, submersible is fixed by upward pulling force and downward pressure；
(3) after submersible reaches designated position, driving mechanism drives movable doorboard to open, and winch discharges armored cable, diving
Device is gradually reduced, and completes laying for submersible；
The recycling of submersible:
(4) starting winch promotes submersible, and the connector of submersible opens two pieces of movable doorboards of retaining mechanism, and connector is worn
After crossing movable doorboard, movable doorboard resets naturally, at this time connector by movable doorboard constraint and cannot move down；
(5) start the clamping cylinder on mounting base periphery, clamping cylinder drives first connecting rod and second connecting rod, moves down pressure ring integrally
And be pressed on submersible, submersible is fixed by upward pulling force and downward pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710703358.4A CN107264751B (en) | 2017-08-16 | 2017-08-16 | A kind of submarine launch recycling butt-joint locking device and butt-joint locking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710703358.4A CN107264751B (en) | 2017-08-16 | 2017-08-16 | A kind of submarine launch recycling butt-joint locking device and butt-joint locking method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107264751A CN107264751A (en) | 2017-10-20 |
| CN107264751B true CN107264751B (en) | 2019-04-23 |
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ID=60077362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710703358.4A Active CN107264751B (en) | 2017-08-16 | 2017-08-16 | A kind of submarine launch recycling butt-joint locking device and butt-joint locking method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107264751B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109292060A (en) * | 2018-10-12 | 2019-02-01 | 上海彩虹鱼深海装备科技有限公司 | A kind of submersible frame structure, load compartment and submersible |
| CN114750910B (en) * | 2022-06-14 | 2022-08-23 | 武汉理工大学三亚科教创新园 | Protection and moving mechanism of marine environment quality safety supervision device |
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| CN1132710A (en) * | 1995-04-05 | 1996-10-09 | 中国科学院沈阳自动化研究所 | Underwater recovery system for autonomous diving device |
| JP2000159187A (en) * | 1998-11-24 | 2000-06-13 | Japan Marine Sci & Technol Center | Launch/retrieval system for underwater equipment |
| 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 |
| CN105644744A (en) * | 2016-03-17 | 2016-06-08 | 天津海之星海洋科技发展有限公司 | Throwing and recovering machine for ship-based underwater robot |
| CN205524896U (en) * | 2016-02-29 | 2016-08-31 | 中海蓝水自动化装备有限公司 | A retrieve and device is put to cloth for underwater vehicle |
| CN207191355U (en) * | 2017-08-16 | 2018-04-06 | 中船华南船舶机械有限公司 | A kind of submarine launch reclaims butt-joint locking device |
-
2017
- 2017-08-16 CN CN201710703358.4A patent/CN107264751B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1132710A (en) * | 1995-04-05 | 1996-10-09 | 中国科学院沈阳自动化研究所 | Underwater recovery system for autonomous diving device |
| JP2000159187A (en) * | 1998-11-24 | 2000-06-13 | Japan Marine Sci & Technol Center | Launch/retrieval system for underwater equipment |
| 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 |
| CN205524896U (en) * | 2016-02-29 | 2016-08-31 | 中海蓝水自动化装备有限公司 | A retrieve and device is put to cloth for underwater vehicle |
| CN105644744A (en) * | 2016-03-17 | 2016-06-08 | 天津海之星海洋科技发展有限公司 | Throwing and recovering machine for ship-based underwater robot |
| CN207191355U (en) * | 2017-08-16 | 2018-04-06 | 中船华南船舶机械有限公司 | A kind of submarine launch reclaims butt-joint locking device |
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| CN107264751A (en) | 2017-10-20 |
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