CN108482583A - A kind of four-degree-of-freedom ejection mechanism laying recycling for unmanned boat - Google Patents
A kind of four-degree-of-freedom ejection mechanism laying recycling for unmanned boat Download PDFInfo
- Publication number
- CN108482583A CN108482583A CN201810147775.XA CN201810147775A CN108482583A CN 108482583 A CN108482583 A CN 108482583A CN 201810147775 A CN201810147775 A CN 201810147775A CN 108482583 A CN108482583 A CN 108482583A
- Authority
- CN
- China
- Prior art keywords
- lead screw
- ejection
- pedestal
- servo motor
- unmanned boat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/28—Devices for projecting or releasing boats for free fall
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/70—Condition-responsive handling equipment, e.g. automatic release of boat from lowering tackle upon contact with water
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to a kind of four-degree-of-freedom ejection mechanisms laying recycling for unmanned boat, it is made of ejection self-adjusting system, lead screw guiderail base, lead screw drive system, ejection cartridge system, the fluted body shaft coupling of the ejection self-adjusting system is fixedly connected with the ejection cylinder of ejection cartridge system, the torque motor rotating platform pedestal of ejection self-adjusting system bottom is fixedly connected with the pedestal of lead screw guiderail base, and the lead screw drive system is used to drive the lead screw in lead screw guiderail base that entire mechanism realization is driven to move horizontally.Mechanism of the present invention is gathered around there are four degree of freedom, and mobility is stronger, which can carry out unmanned boat in actual marine environment laying recycling, can also play to optimize laying the function of being debugged with reclaimer operation in the environment of simulation ocean.
Description
Technical field
The present invention relates to a kind of four-degree-of-freedom ejection mechanisms laying recycling for unmanned boat.
Background technology
21 century is " century of ocean ".Significant change is occurring for current international ocean situation, this is to Chinese ocean
Structure and the development of strategy be both opportunity simultaneously and abnormal stern challenge.Therefore, analysis China periphery marine safety
Situation measures continental shelf and the mrine geomorphy mapping in China coastal seas shallow sea, to the structure of Chinese Sea power strategy, sea power
Greatly develop and the maintenance of national marine equity is most important.
In recent years, with the development of unmanned boat technology, domestic and international scientific research institutions have now been developed several shallow drafts, machines
The good unmanned boat model of dynamic property, and put into actual Ocean Surveying application.But due to the big and marine stormy waves of own wt
Shoving, equal environment are complicated, and unmanned boat water and water outlet stage under equipment lay and easily cause unmanned boat and mother with reclaimer operation
The damage of ship.In the case of extremely severe, or even the crushing accident of unmanned boat and lash ship can be caused.Therefore, complexity is faced
Marine environment, how unmanned boat is steady, safe and accurate cloth is put on sea and its safe retrieving is unmanned boat from chief commander
Key factor.
Invention content
The present invention lays the deficiencies of recovering means for existing unmanned boat, provides and a kind of laying recycling for unmanned boat
Four-degree-of-freedom ejection mechanism.
In order to achieve the above objectives, thinking of the invention is as follows：
The working environment that the four-degree-of-freedom ejection mechanism of recycling is laid for unmanned boat be complexity, changeable various inland rivers, lake,
Navigation channel, shallow sea etc., including four ejection self-adjusting system, lead screw guiderail base, lead screw drive system, ejection cartridge system parts,
The mechanism is gathered around there are four degree of freedom, and taking motor by screw systems rotation private makes two joint action tables being located above lead screw according to leading
Rail direction is moved, and joint action table is fixed with mechanism base using bolt, thus adjusts horizontal displacement, PLC sends pulse by PWM wave
Instruction adjusts the rotary freedom in Z-direction, torque motor rotating platform by controlling the rotation of torque motor rotating platform
It is built-in with PID and adjusts algorithm, can achieve the effect that filtering, stabilization, 6 threaded holes are reserved on torque motor rotating platform,
Nylon disk is fixedly connected by screw with the threaded hole on torque motor rotating platform, by being located at torque motor rotary flat
The fixed electric putter of nylon disk position of centre of gravity institute adjusts vertical height above platform, and motor is taken by fixed private above electric putter
Adjusting flip angle can be passed through distant after unmanned boat upper layer, which is assigned, lays recovery command by the operator on lash ship
Control device wireless remote control is located at the PLC controller in unmanned boat control cabinet, and PWM is sent by the program block inside PLC controller
Wave instruction adjusts each motor rotation in mechanism, and passes through the letter of position and encoding angle sensor feedback above motor
Breath learns that current displacement and angle value, PLC controls substitute into lash ship and unmanned boat angle based on internal empirical rule library algorithm
Value and difference in height, based on current posture and location information, in conjunction with the parameter of regularity of anti-algorithm substitution of shoving, calculate final each
A motor movement angle, after reaching angle value, the electric putter at ejection guns rear is retracted, and Kev drawstring and hook are popped up, real
Now docked with lash ship.
Based on the above thinking, the present invention adopts the following technical scheme that：
A kind of four-degree-of-freedom ejection mechanism laying recycling for unmanned boat, by ejection self-adjusting system, lead screw guiderail base, silk
Bar drive system, ejection cartridge system composition, the ejection of the fluted body shaft coupling and ejection cartridge system of the ejection self-adjusting system
Cylinder is fixedly connected, and the torque motor rotating platform pedestal and the pedestal of lead screw guiderail base of ejection self-adjusting system bottom are fixed
Connection, the lead screw drive system are used to drive the lead screw in lead screw guiderail base that entire mechanism realization is driven to move horizontally.
The ejection self-adjusting system includes torque motor rotating platform pedestal, nylon disk seat, ejector pin retaining plate, push rod
It is fixing bolt, electric putter, watertight connector one, push rod top braces device, servo motor, electronics band-type brake, servo motor fixed plate, recessed
Groove profile shaft coupling, servo motor pedestal, watertight connector two, torque motor rotating platform, position sensor, wherein torque motor revolve
Turn platform base to be bolted to connection with torque motor rotating platform shell, torque motor rotating platform pedestal is four reserved
Mounting hole is connect with the bolt of lower base of lead screw guiderail base, and torque motor rotating platform rotary inner ring passes through with nylon disk seat
Bolt is fixedly connected, ejector pin retaining plate and nylon disk seat self-drilling connection, and two ejector pin retaining plates are logical with electric putter one end
The connection of push rod fixing bolt is crossed, is tightened using gasket, hex nut cooperation；The advance welding aluminum alloy thin plate in electric putter bottom is thin
Plate reserves mounting hole, is fixedly connected by tapping screw with nylon plate seat, electric putter head is bolted to connection push rod top
Portion's eyelid retractor, push rod top braces device are fixed by welding with servo motor pedestal, servo motor fixed plate and servo motor bottom
Seat is bolted, and servo motor is fixed by servo motor pedestal and servo motor fixed plate, and servo motor tail portion has
Electronics band-type brake is connect by four screws with servo motor, and servo motor rotation axis is equipped with fluted body shaft coupling, fluted body shaft coupling
Device is fastened with ejection cylinder by watertight glue, has watertight connector one at the top of electric putter, has watertight connector at the top of servo motor
Two, for control line and signal wire outlet and waterproof.
The lead screw guiderail base includes pedestal, two guide rails, lead screw, two joint action tables, and pedestal and two joint action tables are logical
It crosses screw to be connected and fixed, two guide rails pass through two joint action tables to reserve sliding groove, and two joint action tables are by the rotation of lead screw two
A guide rail upper edge X-axis is moved forward and backward.
The lead screw drive system includes stepper motor, shaft coupling, rolling bearing, L-type pedestal, photoelectric encoder, deceleration
Device, support plate, motor cabinet, stepper motor are connect with retarder, and retarder is connect with shaft coupling, and shaft coupling is reserved with lead screw end
Polished rod is compressed by soket head cap screw, and lead screw connects L-type pedestal by rolling bearing, and retarder is by supporting crab bolt to be fixed on
On L-type pedestal, stepper motor is fixed with motor cabinet bolt, and motor cabinet is reserved with mounting hole, is fixed with L-type bolt of lower base；Subtracting
Photoelectric encoder is installed additional in fast device rotation axis, and the rotation angle after deceleration is fed back into upper layer PLC controller, passes through the row of lead screw
Journey obtains relatively accurate horizontal displacement.
The ejection cartridge system include ejection cylinder, ejection babinet, high-strength spring, spring clutch disk, spring detent,
Miniature electric putter, ejection cylinder are bolted with ejection babinet, and launching pre- disk in cylinder has hook and high intensity Kev to draw
Rope, ejection box house are welded with high-strength spring, spring clutch disk, spring clutch disk are welded at the top of high-strength spring
Diameter and ejection box width approximately equal are high by launching the horizontal swing amplitude of babinet limited spring clutch disk
By compressing and being compressed by the head mounted spring detent of micro electric push rod in advance, spring detent pushes away intensity spring with micro electric
Club head is by pin connection, and after the instruction issuing of upper layer, miniature electric putter drives spring detent to retract, and discharges high-strength spring,
By the Kev drawstring in ejection guns body with hook pop-up to lash ship deck, to realize that unmanned boat is docked with lash ship.
Compared with prior art, the present invention has the advantage that：
Mechanism of the present invention is gathered around there are four degree of freedom, can be adjusted horizontal displacement by screw systems, be passed through torque motor rotary flat
Platform adjusts direction of rotation, vertical high by being located at the fixed electric putter adjusting of nylon pallet institute above torque motor rotating platform
Degree takes motor by fixed private above electric putter and adjusts flip angle, and mobility is stronger, and being equipped in the ejection guns of the mechanism can
To carry the high intensity Kev drawstring of 5 tons or more weight, after angle and direction adjustment is errorless, is controlled by PLC, give electric putter
Instruction of retracting makes strip retract, and internal high-strength spring band pallet pops up, and so that Kev drawstring is linked up with stainless steel and prolongs ejection guns
Direction is projected, which can carry out unmanned boat in actual marine environment laying recycling, in the environment of simulation ocean also
Optimization can be played and lay the function of being debugged with reclaimer operation.
Description of the drawings
Fig. 1 is a kind of four-degree-of-freedom ejection mechanism overall assembling front signal laying recycling for unmanned boat of the present invention
Figure.
Fig. 2 is a kind of four-degree-of-freedom ejection mechanism overall assembling side signal laying recycling for unmanned boat of the present invention
Figure.
Fig. 3 is that a kind of four-degree-of-freedom ejection mechanism laying recycling for unmanned boat of the present invention launches self-adjusting system signal
Figure.
Fig. 4 is a kind of four-degree-of-freedom ejection mechanism lead screw guiderail base signal laying recycling for unmanned boat of the present invention
Figure.
Fig. 5 is a kind of four-degree-of-freedom ejection mechanism lead screw drive system signal laying recycling for unmanned boat of the present invention
Figure.
Fig. 6 is a kind of four-degree-of-freedom ejection guns system schematic laying recycling for unmanned boat of the present invention.
Specific implementation mode
Below in conjunction with the accompanying drawings and preferred embodiment is described further technical scheme of the present invention.
As shown in Figure 1 and Figure 2, a kind of four-degree-of-freedom ejection mechanism laying recycling for unmanned boat, which is characterized in that by
It launches self-adjusting system 100, lead screw guiderail base 200, lead screw drive system 300, ejection cartridge system 400 to form, the ejection
The fluted body shaft coupling 111 of self-adjusting system 100 is fixedly connected with the ejection cylinder 401 of ejection cartridge system 400, launches self-adjusting
The torque motor rotating platform pedestal 101 of 100 bottom of system is fixedly connected with the pedestal 201 of lead screw guiderail base 200, the silk
Bar drive system 300 is for driving the lead screw 203 in lead screw guiderail base 200 that entire mechanism realization is driven to move horizontally.
As shown in figure 3, the ejection self-adjusting system 100 includes torque motor rotating platform pedestal 101, nylon disk seat
102, ejector pin retaining plate 103, push rod fixing bolt 104, electric putter 105, watertight connector 1, push rod top braces device 107,
Servo motor 108, electronics band-type brake 109, servo motor fixed plate 110, fluted body shaft coupling 111, servo motor pedestal 112, water
Touch head 2 113, torque motor rotating platform 114, position sensor 115, wherein torque motor rotating platform pedestal 101 with turn
114 shell of square motor rotation platform is bolted to connection, and torque motor rotating platform pedestal 101 reserves four mounting holes,
It is bolted with the pedestal 201 of lead screw guiderail base 200,114 rotary inner ring of torque motor rotating platform and nylon disk seat 102
Be bolted to connection, ejector pin retaining plate 103 and 102 self-drilling connection of nylon disk seat, two ejector pin retaining plates 103 with
105 one end of electric putter is connected by push rod fixing bolt 104, is tightened using gasket, hex nut cooperation；105 bottom of electric putter
Advance welding aluminum alloy thin plate, thin plate are reserved mounting hole, are fixedly connected by tapping screw with nylon plate seat 102, electric putter 105
Head is bolted to connection push rod top braces device 107, and push rod top braces device 107 passes through welding and servo motor pedestal
112 fix, and servo motor fixed plate 110 is bolted with servo motor pedestal 112, and servo motor 108 passes through servo electricity
Machine base 112 and servo motor fixed plate 110 are fixed, and there is electronics band-type brake 109 in 108 tail portion of servo motor, passes through four screws
It is connect with servo motor 108,108 rotation axis of servo motor is equipped with fluted body shaft coupling 111, fluted body shaft coupling 111 and ejection
Cylinder 401 is fastened by watertight glue, and the top of electric putter 105 has watertight connector 1, the top of servo motor 108 to have watertight
Connector 2 113, for control line and signal wire outlet and waterproof.
As shown in figure 4, the lead screw guiderail base 200 includes 203, two 201, two guide rails 202 of pedestal, lead screw linkages
Platform 204, pedestal 201 and two joint action tables 204 are connected by screw fixation, and two guide rails 202 pass through two joint action tables 204 reserved
Sliding groove, two joint action tables 204 are moved forward and backward by the rotation of lead screw 203 in two 202 upper edge X-axis of guide rail.
As shown in figure 5, the lead screw drive system 300 includes stepper motor 301, shaft coupling 302, rolling bearing 303, L
Type pedestal 304, photoelectric encoder 305, retarder 306, support plate 307, motor cabinet 308, stepper motor 301 and retarder 306
Connection, retarder 306 are connect with shaft coupling 302, and shaft coupling 302 reserves polished rod with 203 end of lead screw and passes through soket head cap screw pressure
Tightly, lead screw 203 connects L-type pedestal 304 by rolling bearing 303, and retarder 306 is fixed on L-type bottom by 307 bolt of support plate
On seat 304, stepper motor 301 is fixed with 308 bolt of motor cabinet, and motor cabinet 308 is reserved with mounting hole, with 304 bolt of L-type pedestal
It is fixed；It installs photoelectric encoder 305 additional in 306 rotation axis of retarder, the rotation angle after deceleration is fed back into upper layer PLC controls
Device obtains relatively accurate horizontal displacement by the stroke of lead screw 203.In the present embodiment, stepper motor 301 selects 2.9Nm power
Square exports money, is connect with 1 to 20 retarder 306, can obtain the high-torque of 58Nm, for driving lead screw 203 to drive entire mechanism
Realization moves horizontally.
As shown in Fig. 2, Fig. 6, the ejection cartridge system 400 includes ejection cylinder 401, ejection babinet 402, high-strength spring
403, spring clutch disk 404, spring detent 405, miniature electric putter 406, ejection cylinder 401 pass through spiral shell with ejection babinet 402
Bolt is fixed, and the ejection inner pre- disk of cylinder 401 has hook and high intensity Kev drawstring, ejection 402 interior welds of babinet to have high intensity bullet
Spring 403,403 top of high-strength spring are welded with spring clutch disk 404,404 diameter of spring clutch disk and ejection babinet 402
Width approximately equal, by launching the horizontal swing amplitude of 402 limited spring clutch disk 404 of babinet, high-strength spring
403 by compress in advance and by 406 head mounted spring detent 405 of miniature electric putter compress, spring detent 405 with it is miniature
406 head of electric putter is by pin connection, and after the instruction issuing of upper layer, miniature electric putter 406 drives spring detent 405 to retract, and releases
High-strength spring 403 is put, the Kev drawstring in cylinder 401 will be launched with hook pop-up to lash ship deck, to realize unmanned boat
It is docked with lash ship.
Claims (5)
1. a kind of four-degree-of-freedom ejection mechanism laying recycling for unmanned boat, which is characterized in that by ejection self-adjusting system
（100）, lead screw guiderail base（200）, lead screw drive system（300）, ejection cartridge system（400）Composition, the ejection self-adjusting
System（100）Fluted body shaft coupling（111）With ejection cartridge system（400）Ejection cylinder（401）It is fixedly connected, launches self-regulated
Whole system（100）The torque motor rotating platform pedestal of bottom（101）With lead screw guiderail base（200）Pedestal（201）It is fixed
Connection, the lead screw drive system（300）For driving lead screw guiderail base（200）In lead screw（203）Drive entire mechanism
Realization moves horizontally.
2. the four-degree-of-freedom ejection mechanism according to claim 1 for laying recycling for unmanned boat, which is characterized in that described
Launch self-adjusting system（100）Including torque motor rotating platform pedestal（101）, nylon disk seat（102）, ejector pin retaining plate
（103）, push rod fixing bolt（104）, electric putter（105）, watertight connector one（106）, push rod top braces device（107）, servo
Motor（108）, electronics band-type brake（109）, servo motor fixed plate（110）, fluted body shaft coupling（111）, servo motor pedestal
（112）, watertight connector two（113）, torque motor rotating platform（114）, position sensor（115）, wherein torque motor rotation
Platform base（101）With torque motor rotating platform（114）Shell is bolted to connection, torque motor rotating platform pedestal
（101）Four mounting holes are reserved, with lead screw guiderail base（200）Pedestal（201）It is bolted, torque motor rotating platform
（114）Rotary inner ring and nylon disk seat（102）It is bolted to connection, ejector pin retaining plate（103）With nylon disk seat
（102）Self-drilling connection, two ejector pin retaining plates（103）With electric putter（105）One end passes through push rod fixing bolt（104）Even
It connects, is tightened using gasket, hex nut cooperation；Electric putter（105）The advance welding aluminum alloy thin plate in bottom, thin plate is reserved to be fixed
Hole, with nylon plate seat（102）It is fixedly connected by tapping screw, electric putter（105）Head is bolted to connection push rod top
Portion's eyelid retractor（107）, push rod top braces device（107）Pass through welding and servo motor pedestal（112）Fixed, servo motor is fixed
Plate（110）With servo motor pedestal（112）It is bolted, servo motor（108）Pass through servo motor pedestal（112）And
Servo motor fixed plate（110）It is fixed, servo motor（108）There is electronics band-type brake in tail portion（109）, pass through four screws and servo electricity
Machine（108）Connection, servo motor（108）Rotation axis is equipped with fluted body shaft coupling（111）, fluted body shaft coupling（111）With ejection
Cylinder（401）It is fastened by watertight glue, electric putter（105）Top have watertight connector one（106）, servo motor（108）Top
There is watertight connector two in portion（113）, for control line and signal wire outlet and waterproof.
3. the four-degree-of-freedom ejection mechanism according to claim 1 for laying recycling for unmanned boat, which is characterized in that described
Lead screw guiderail base（200）Including pedestal（201）, two guide rails（202）, lead screw（203）, two joint action tables（204）, pedestal
（201）With two joint action tables（204）It is connected by screw fixation, two guide rails（202）Across two joint action tables（204）It is reserved to slide
Dynamic slot, two joint action tables（204）Pass through lead screw（203）Rotation in two guide rails（202）Upper edge X-axis is moved forward and backward.
4. the four-degree-of-freedom ejection mechanism according to claim 1 for laying recycling for unmanned boat, which is characterized in that described
Lead screw drive system（300）Including stepper motor（301）, shaft coupling（302）, rolling bearing（303）, L-type pedestal（304）, light
Photoelectric coder（305）, retarder（306）, support plate（307）, motor cabinet（308）, stepper motor（301）With retarder（306）
Connection, retarder（306）With shaft coupling（302）Connection, shaft coupling（302）With lead screw（203）It reserves polished rod and passes through interior six in end
Angle screw in compression, lead screw（203）Pass through rolling bearing（303）Connect L-type pedestal（304）, retarder（306）Pass through support plate
（307）Bolt is fixed on L-type pedestal（304）On, stepper motor（301）With motor cabinet（308）Bolt is fixed, motor cabinet（308）
It is reserved with mounting hole, with L-type pedestal（304）Bolt is fixed；In retarder（306）Install photoelectric encoder in rotation axis additional（305）,
Rotation angle after deceleration is fed back into upper layer PLC controller, passes through lead screw（203）Stroke obtain relatively accurate horizontal position
It moves.
5. the four-degree-of-freedom ejection mechanism according to claim 1 for laying recycling for unmanned boat, which is characterized in that described
Launch cartridge system（400）Including launching cylinder（401）, ejection babinet（402）, high-strength spring（403）, spring clutch disk
（404）, spring detent（405）, miniature electric putter（406）, launch cylinder（401）With ejection babinet（402）It is bolted,
Launch cylinder（401）In pre- disk have a hook and high intensity Kev drawstring, launch babinet（402）Interior welds have high-strength spring
（403）, high-strength spring（403）Top is welded with spring clutch disk（404）, spring clutch disk（404）Diameter and ejection
Babinet（402）Width approximately equal, by launching babinet（402）Limited spring clutch disk（404）Horizontal direction amplitude of fluctuation
Degree, high-strength spring（403）By compressing in advance and by miniature electric putter（406）Head mounted spring detent（405）Pressure
Tightly, spring detent（405）With miniature electric putter（406）Head passes through pin connection, after the instruction issuing of upper layer, miniature electric putter
（406）Drive spring detent（405）It retracts, discharges high-strength spring（403）, cylinder will be launched（401）Interior Kev drawstring with
Hook pop-up is to lash ship deck, to realize that unmanned boat is docked with lash ship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147775.XA CN108482583B (en) | 2018-02-13 | 2018-02-13 | Four-degree-of-freedom ejection mechanism for unmanned boat laying and recovery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147775.XA CN108482583B (en) | 2018-02-13 | 2018-02-13 | Four-degree-of-freedom ejection mechanism for unmanned boat laying and recovery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108482583A true CN108482583A (en) | 2018-09-04 |
| CN108482583B CN108482583B (en) | 2020-04-03 |
Family
ID=63340419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810147775.XA Active CN108482583B (en) | 2018-02-13 | 2018-02-13 | Four-degree-of-freedom ejection mechanism for unmanned boat laying and recovery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108482583B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109928299A (en) * | 2019-04-04 | 2019-06-25 | 哈尔滨工程大学 | It is a kind of can the remote control type UUV of automatic coupling and unhook lay recovering mechanism and method |
| CN110104140A (en) * | 2019-07-03 | 2019-08-09 | 山东炎黄工业设计有限公司 | Ships and light boats and its buffering collision of closed method are rescued on new type water |
| CN110155253A (en) * | 2019-06-10 | 2019-08-23 | 上海海事大学 | A kind of ship lifeboat releaser |
| CN113581380A (en) * | 2021-06-25 | 2021-11-02 | 中国船舶重工集团公司第七一三研究所 | Automatic capturing and traction device for unmanned boat recovery |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2908343Y (en) * | 2006-01-14 | 2007-06-06 | 青岛北海船舶重工有限责任公司 | Releasing mechanism of free falling life-saving boat |
| CN203767031U (en) * | 2014-01-24 | 2014-08-13 | 武汉理工大学 | Automatic lifeboat releasing device |
| CN203819469U (en) * | 2014-05-13 | 2014-09-10 | 浙江海洋学院 | Life float launching device |
| CN106005268A (en) * | 2016-05-25 | 2016-10-12 | 哈尔滨工程大学 | Wireless cord-pulling multi-lever linkage device used for remote unhooking |
| KR20170001136U (en) * | 2015-09-18 | 2017-03-28 | 대우조선해양 주식회사 | Rope Release Mechanism of Freefall Lifeboat |
-
2018
- 2018-02-13 CN CN201810147775.XA patent/CN108482583B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2908343Y (en) * | 2006-01-14 | 2007-06-06 | 青岛北海船舶重工有限责任公司 | Releasing mechanism of free falling life-saving boat |
| CN203767031U (en) * | 2014-01-24 | 2014-08-13 | 武汉理工大学 | Automatic lifeboat releasing device |
| CN203819469U (en) * | 2014-05-13 | 2014-09-10 | 浙江海洋学院 | Life float launching device |
| KR20170001136U (en) * | 2015-09-18 | 2017-03-28 | 대우조선해양 주식회사 | Rope Release Mechanism of Freefall Lifeboat |
| CN106005268A (en) * | 2016-05-25 | 2016-10-12 | 哈尔滨工程大学 | Wireless cord-pulling multi-lever linkage device used for remote unhooking |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109928299A (en) * | 2019-04-04 | 2019-06-25 | 哈尔滨工程大学 | It is a kind of can the remote control type UUV of automatic coupling and unhook lay recovering mechanism and method |
| CN110155253A (en) * | 2019-06-10 | 2019-08-23 | 上海海事大学 | A kind of ship lifeboat releaser |
| CN110155253B (en) * | 2019-06-10 | 2020-06-09 | 上海海事大学 | Ship lifeboat release device |
| CN110104140A (en) * | 2019-07-03 | 2019-08-09 | 山东炎黄工业设计有限公司 | Ships and light boats and its buffering collision of closed method are rescued on new type water |
| CN110104140B (en) * | 2019-07-03 | 2019-09-20 | 山东炎黄工业设计有限公司 | Ships and light boats and its buffering collision of closed method are rescued on new type water |
| CN113581380A (en) * | 2021-06-25 | 2021-11-02 | 中国船舶重工集团公司第七一三研究所 | Automatic capturing and traction device for unmanned boat recovery |
| CN113581380B (en) * | 2021-06-25 | 2023-09-01 | 中国船舶重工集团公司第七一三研究所 | Automatic capturing traction device for unmanned ship recovery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108482583B (en) | 2020-04-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108482583A (en) | A kind of four-degree-of-freedom ejection mechanism laying recycling for unmanned boat | |
| CN103183113B (en) | Underwater robot recovery system and recovery method thereof | |
| CN107037127B (en) | A kind of complex probe formula underwater robot weld defect detection device | |
| CN201325591Y (en) | Radiation resistant underwater monitoring robot | |
| CN107807013A (en) | A kind of autonomous sampling system of constant temperature ocean water quality | |
| CN112519969A (en) | Self-powered unmanned ship automatic parking charging device | |
| CN109572973A (en) | A kind of underwater propeller | |
| CN109250037B (en) | A kind of flight suspending underwater glider lays recyclable device | |
| CN106741730B (en) | A kind of underwater controllable extensible formula capture docking facilities | |
| CN109866883B (en) | Laying and recovering device of towing sonar for boat | |
| CN212722631U (en) | Robot for detecting large oil-immersed transformer | |
| CN109795640B (en) | Marine model ship balancing device and installation method thereof | |
| CN209382234U (en) | A kind of underwater long range tunnel detection robot | |
| CN115959251A (en) | Collision early warning device for ocean fishing boat | |
| CN208149580U (en) | A kind of quadrotor submarine navigation device that vector promotes | |
| CN213637960U (en) | Underwater camera of submersible with adjustable visual angle | |
| CN115946825A (en) | Recovery device for underwater glider | |
| CN209330038U (en) | A kind of connection structure of solar panels | |
| CN206750069U (en) | A kind of power-boosting wears unrestrained trimaran | |
| CN113858222B (en) | Intelligent reservoir inspection robot based on virtual reality technology | |
| CN115503870B (en) | Wave wing plate with float state real-time supervision and automatically regulated function | |
| CN105539790A (en) | Annular flat paddle double-body ship | |
| CN207078295U (en) | A kind of displacement cruise rescue ship | |
| CN110481746A (en) | A kind of hydrofoil corner amplitude control device and the wave energy aircraft with the device | |
| CN205221052U (en) | Annular flat plate paddle twinhull vessel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |