CN109534095B - Roller cable guide mechanism - Google Patents
Roller cable guide mechanism Download PDFInfo
- Publication number
- CN109534095B CN109534095B CN201811598633.1A CN201811598633A CN109534095B CN 109534095 B CN109534095 B CN 109534095B CN 201811598633 A CN201811598633 A CN 201811598633A CN 109534095 B CN109534095 B CN 109534095B
- Authority
- CN
- China
- Prior art keywords
- roller
- guide mechanism
- cable guide
- belt
- rollers
- 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.)
- Active
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 39
- 239000002184 metal Substances 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 9
- 230000007704 transition Effects 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H57/00—Guides for filamentary materials; Supports therefor
- B65H57/14—Pulleys, rollers, or rotary bars
Landscapes
- Electric Cable Installation (AREA)
- Guides For Winding Or Rewinding, Or Guides For Filamentary Materials (AREA)
Abstract
The invention relates to a roller cable guiding mechanism, which comprises: the axle centers of the rollers are parallel to each other and distributed in an elliptical shape; the belt is sleeved on the rollers; and the rollers are perpendicular to the belt and are distributed above the belt in a pi shape. The roller cable guiding mechanism provided by the invention can realize cable guiding in the directions of front and back rotation angles, has sufficient cable guiding contact area, larger transition radius and simple structure, and can be applied to the operation of towing vibration acoustic cables into water cables and other occasions needing flexible guiding of cables.
Description
Technical Field
The invention relates to the technical field of water area cable transmission, in particular to a roller cable guiding mechanism.
Background
In recent years, with the development of national defense industry and continuous development of underwater resources, the development of ocean industry and ocean exploration become important development strategies in China. Other underwater devices such as sonar and ROV have been greatly developed as an important means of exploring and discovering the ocean. The underwater equipment can be used for marine resource exploration, hydrologic measurement, fish shoal detection, submarine topography survey and the like.
For devices such as towing vibration, sonar, underwater sound tracker, underwater test equipment and the like which are required to be arranged on the water surface or under water, one or more underwater cables are required to be connected for transmitting signals or supplying power. When the cable is used, water is generally required to be released from the ship, and a guiding and supporting mechanism is required to be arranged in order to ensure that the cable smoothly enters water according to a set azimuth in the releasing process. Some existing cable guiding mechanisms are not suitable for being applied to a ship carrying platform on the water surface; some of the small-sized ship carrying platforms have complex structures, heavier weight and larger size, and are not suitable for small-sized ship carrying platforms; the cable guiding direction is single, and the cable guiding device is not suitable for the requirements of different water inlet angles of the cable; the radius of the cable guiding wheel of the round cable guiding mechanism is smaller, the contact area between the cable and the cable guiding wheel is insufficient, the inner structure is precise, the outer protection requirement is high, and more damage is caused to the cable.
Disclosure of Invention
Aiming at the defects, the invention provides the roller cable guide mechanism which is simple in structure, high in adjustability, low in cost and convenient to maintain and replace.
The invention is realized by the following technical scheme:
a roller cable guide mechanism, the roller cable guide mechanism comprising:
the axle centers of the rollers are parallel to each other and distributed in an elliptical shape;
the belt is sleeved on the rollers; and
the rollers are perpendicular to the belt and are distributed above the belt in a pi shape.
Further, the roller cable guiding mechanism further comprises baffles arranged on two sides of the rollers; the two baffles are correspondingly provided with a plurality of U-shaped holes in oval distribution, and two ends of a roller shaft of the roller are respectively arranged in the corresponding U-shaped holes.
Further, the roller cable guiding mechanism further comprises a plurality of n-shaped brackets arranged above the belt, and two ends of each n-shaped bracket are respectively fixed on the two baffle plates; the roller is rotatably sleeved on the n-shaped bracket.
Further, the pi-shaped bracket comprises two vertical roller shafts, one ends of which are fixedly connected with the baffle plate, and a transverse roller shaft, the other ends of which are connected with the two vertical roller shafts; the vertical roller shaft and the transverse roller shaft are respectively sleeved with the rollers.
Further, the roller cable guiding mechanism further comprises a hoisting support, and the hoisting support is connected to the pi-shaped support at the middle position.
Further, the hoisting support comprises a circular ring, a transverse support connected to the n-shaped support, and a connecting part with one end connected with the circular ring and the other end connected with the transverse support in a rotating manner.
Further, in the roller cable guiding mechanism, a plurality of the n-shaped brackets are distributed along the long axis of the ellipse, and the number of the n-shaped brackets is 3.
Further, a gyro wheel cable guide mechanism, the gyro wheel includes:
the roller body is cylindrical, and the inner sides of the two ends of the roller body are provided with first step grooves;
the metal lining is arranged in the roller main body, two ends of the metal lining are clamped with the first step groove, and second step grooves are formed in the inner sides of the two ends;
a bearing disposed in the second stepped groove; and
and a roller shaft mounted to the bearing.
Further, in the roller cable guiding mechanism, the outer surface of the roller main body is a concave curved surface along the circumferential direction of the roller main body.
The invention has the advantages and effects that:
1. the roller cable guiding mechanism provided by the invention is sleeved on a plurality of rollers which are distributed in an elliptical shape by adopting the belt, and the inner surface of the belt is attached to the outer surface of the rollers to form a roller cable guiding part which is used as a main supporting structure of a cable in the cable arranging process. Sliding friction is formed between the cable and the belt, rolling friction is formed between the belt and a plurality of rollers, and abrasion loss on the surface of the cable is reduced. The rollers are distributed in an elliptical shape, so that the curvature radius of the cable contacted during steering is reduced, and the bending degree of the cable is reduced.
2. The roller cable guiding mechanism provided by the invention adopts a plurality of rollers which are distributed above the belt in a pi shape to limit the cable from falling off from the contacted belt in the cable guiding process.
3. The roller cable guide mechanism provided by the invention can be applied to the operation of towing the vibrating acoustic cable into the water guide cable, and can also be applied to other occasions where flexible guiding is required. The roller cable guiding mechanism realizes cable guiding in the front-back direction and the different rotation angle directions, has sufficient cable guiding contact area, larger transition radius and simple structure, and is also suitable for small-sized naval vessel carrying platforms.
Drawings
Fig. 1 shows a schematic perspective view of a roller cable guiding mechanism provided by the invention;
fig. 2 shows a front view of the roller cable guide mechanism provided by the invention;
fig. 3 shows a cross-sectional view of a roller of the roller cable guide mechanism provided by the invention.
Reference numerals illustrate: 1-roller, 11-roller main body, 12-metal lining, 13-bearing, 14-roller shaft, 2-belt, 3-roller, 4-baffle, 41-U-shaped hole, 5-pi-shaped bracket, 51-vertical roller shaft, 52-horizontal roller shaft, 6-hoisting bracket, 63-horizontal bracket, 61-ring, 62-connecting part and 7-cable.
Detailed Description
In order to make the purposes, technical solutions and advantages of the implementation of the present invention more clear, the technical solutions in the embodiments of the present invention are described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. The described embodiments are some, but not all, embodiments of the invention. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention. Embodiments of the present invention will be described in detail below with reference to the attached drawings:
in the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of the present invention.
Fig. 1 and 2 show schematic structural diagrams of a roller cable guide mechanism provided by the invention. The roller cable guiding mechanism comprises a roller 1, a belt 2 and a roller 3. The rollers 1 are a plurality of, the axes of the rollers 1 are parallel to each other and distributed in an elliptical shape, and can be independently and rotatably arranged. The belt 2 is sleeved on the rollers 1, and the tightness is moderate so as to form rolling friction. The rollers 3 are perpendicular to the belt and distributed above the belt 2 in a pi shape. In practical application, the cable 7 passes through the n-shaped rollers 3 and the belt 2, and when other equipment is used, such as under the action of a winch, the cable or the cable moves from back to forth, the cable contacts with the belt, the belt is pushed under the action of friction force, the belt rubs the surfaces of the rollers, and the rollers are driven to rotate. Sliding friction is formed between the cable 7 and the belt 2, rolling friction is formed between the belt 2 and the rollers 1, and abrasion loss of the cable surface is reduced. Sliding friction is formed between the cable 7 and the plurality of rollers 3, so that the displacement of the cable up and down and left and right is limited. The rollers are distributed in an elliptical shape, so that the curvature radius of the cable contacted during steering is reduced, and the bending degree of the cable is reduced. The belt is made of PVC material.
The roller cable guiding mechanism further comprises baffle plates 4, wherein the baffle plates 4 are arranged on two sides of the plurality of rollers 1, namely, the two baffle plates are parallel and oppositely arranged. Preferably, the baffle 4 is approximately elliptical. A plurality of U-shaped holes 41 are correspondingly distributed on the two baffles 4 in an elliptical shape, and two ends of a roller shaft of the roller 1 are respectively arranged in the corresponding U-shaped holes 41. The U-shaped hole is convenient to install and disassemble and stable in operation.
The roller cable guide mechanism also comprises a plurality of n-shaped brackets 5, wherein the n-shaped brackets 5 are arranged along the trend of the belt 2 and are arranged above the belt 2. Preferably, the n-shaped brackets 5 are distributed along the long axis of the ellipse, and the number of the n-shaped brackets 5 is 3. Two ends of the pi-shaped bracket 5 are respectively fixed on the two baffle plates 4, namely one end of the pi-shaped bracket is fixed on one baffle plate, and the other end is fixed on the other baffle plate. The rollers 3 are rotatably sleeved on the n-shaped bracket 5, i.e. a plurality of n-shaped rollers are formed and distributed above the belt 2. Specifically, the n-shaped bracket 5 includes two vertical roller shafts 51, one end of which is fixedly connected with the baffle 4, and a transverse roller shaft 52, which is connected with the other ends of the two vertical roller shafts 51. The vertical roller shaft 51 and the horizontal roller shaft 52 are respectively sleeved with the roller 3. Preferably, the drum is a cylinder with a through hole in the center. The upper part of the vertical drum shaft is a cuboid with a through hole, the middle part is a cylinder, the lower part is a cuboid, and the upper part cuboid, the middle part cylinder and the lower part cuboid are sequentially connected and integrally formed. The cylinder cup joints in the middle part cylinder of vertical drum axle, and the middle part cylinder of vertical drum axle forms the revolute pair cooperation with the cylinder. The lower cuboid of the vertical drum shaft is provided with two countersunk holes, and the countersunk holes are matched and connected with threaded holes of the baffle plate through screws. The both ends of horizontal drum axle are the cuboid, and the interlude is the cylinder, and one end cuboid, interlude cylinder and other end cuboid connect gradually, integrated into one piece. The cuboid at the two ends of the transverse drum shaft is provided with through holes, and the through holes of the cuboid at the upper part of the vertical drum shaft are connected and matched through bolts. The roller is sleeved on a middle section cylinder of the transverse roller shaft, and the integrally formed middle section cylinder and the roller form a revolute pair. The roller sleeved on the vertical roller shaft is used for limiting the left-right displacement of the cable, and when the cable exceeds a certain left-right displacement, the roller sleeved on the vertical roller shaft is contacted with the side surface of the cable to form a rolling friction pair. The roller sleeved on the transverse roller shaft is used for limiting the upper displacement of the cable, and when the cable exceeds a certain upward displacement, the roller sleeved on the transverse roller shaft is contacted with the upper surface of the cable to form a rolling friction pair.
The roller cable guide mechanism also comprises a hoisting bracket 6, wherein the hoisting bracket 6 is connected to the n-shaped brackets (5) positioned at the middle positions in the n-shaped brackets. When the number of the n-shaped brackets 5 is 3, the hoisting brackets 6 are connected to the n-shaped brackets 5 positioned in the middle. The lifting bracket 6 comprises a circular ring 61, a transverse bracket 63 connected to the n-shaped bracket 5, and a connecting part 62 with one end connected with the circular ring 61 and the other end connected with the transverse bracket 63 in a rotating way. Specifically, two ends of the transverse bracket 63 are respectively connected to ends of the cuboid at the upper parts of the two vertical roller shafts of the n-shaped bracket at the middle position, that is, the transverse bracket 63 is positioned above the roller sleeved on the transverse roller shaft and is parallel to the roller sleeved on the transverse roller shaft. The hoisting support 6 has 360 degrees of rotation around the vertical direction and swinging degrees of freedom in the front-back direction, so that different cable feeding and cable discharging angles can be conveniently adjusted in the cable guiding process.
Fig. 3 shows a cross-sectional view of a roller of the roller cable guide mechanism provided by the invention. The roller 1 sequentially comprises a roller body 11, a metal lining 12, a bearing 13 and a roller shaft 14 from outside to inside. The roller body 11 is cylindrical, and first stepped grooves are formed at inner sides of both ends. The metal lining 12 is disposed in the roller body 11, two ends of the metal lining are clamped with the first step grooves, and second step grooves are disposed on inner sides of the two ends. The bearing 13 is arranged in the second stepped groove. The roller shaft 14 is mounted on the bearing 13. The outer surface of the roller body 11 is in a concave curved surface along the circumferential direction of the roller body 11, so that the contact area of the cable is increased, and the friction force between the cable and the surface of the roller body 11 is increased.
The above embodiments are only for illustrating the technical solution of the present invention, and are not intended to limit the implementation scope of the present invention. All equivalent changes and modifications within the scope of the present invention should be considered as falling within the scope of the present invention.
Claims (6)
1. The utility model provides a gyro wheel cable guide mechanism which characterized in that, this gyro wheel cable guide mechanism includes:
the axes of the rollers (1) are parallel to each other and distributed in an elliptical shape;
a belt (2) sleeved on the rollers (1); and
a plurality of rollers (3) which are perpendicular to the belt (2) and are distributed above the belt (2) in a pi shape;
the roller cable guide mechanism also comprises baffle plates (4) arranged at two sides of the rollers; a plurality of U-shaped holes are correspondingly distributed on the two baffles (4) in an elliptical shape, and two ends of a roller shaft of the roller (1) are respectively arranged in the corresponding U-shaped holes;
the roller cable guide mechanism also comprises a plurality of n-shaped brackets (5) arranged above the belt (2), wherein two ends of each n-shaped bracket (5) are respectively fixed on two baffle plates (4); the roller (3) is rotatably sleeved on the pi-shaped bracket (5);
the n-shaped bracket (5) comprises two vertical roller shafts, one ends of which are fixedly connected with the baffle (4), and a transverse roller shaft, the other ends of which are connected with the two vertical roller shafts; the vertical roller shaft and the transverse roller shaft are respectively sleeved with the roller (3); the lower cuboid of the vertical drum shaft is provided with two countersunk holes, and the countersunk holes are connected with threaded holes of the baffle plate (4) in a matched mode through screws.
2. A roller cable guide mechanism as claimed in claim 1, further comprising a lifting bracket (6), the lifting bracket (6) being connected to the pi-shaped bracket (5) at an intermediate position.
3. A roller cable guide mechanism according to claim 2, wherein the lifting bracket (6) comprises a circular ring (61), a transverse bracket (63) connected to the pi-shaped bracket (5), and a connecting part (62) with one end connected to the circular ring (61) and the other end connected to the transverse bracket (63) in a rotating manner.
4. A roller cable guide mechanism as claimed in claim 1, wherein a plurality of the pi-shaped brackets (5) are distributed along the major axis of the ellipse, the number of pi-shaped brackets (5) being 3.
5. A roller cable guide mechanism according to any one of claims 1 to 4, wherein the roller (1) comprises:
a roller body (11) which is cylindrical and has first stepped grooves formed on the inner sides of both ends;
the metal inner lining (12) is arranged in the roller main body (11), two ends of the metal inner lining are clamped with the first step grooves, and second step grooves are formed in the inner sides of the two ends;
a bearing (13) provided in the second stepped groove; and
and a roller shaft (14) mounted on the bearing (13).
6. A roller cable guide mechanism as claimed in claim 5, wherein the outer surface of the roller body is concavely curved in the circumferential direction of the roller body (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811598633.1A CN109534095B (en) | 2018-12-26 | 2018-12-26 | Roller cable guide mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811598633.1A CN109534095B (en) | 2018-12-26 | 2018-12-26 | Roller cable guide mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109534095A CN109534095A (en) | 2019-03-29 |
| CN109534095B true CN109534095B (en) | 2024-03-01 |
Family
ID=65857759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811598633.1A Active CN109534095B (en) | 2018-12-26 | 2018-12-26 | Roller cable guide mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109534095B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111056437B (en) * | 2019-12-25 | 2021-07-20 | 广东电网有限责任公司 | Lifting device for power distribution network overhead line |
| CN112744649B (en) * | 2020-12-22 | 2022-08-19 | 四川宏华石油设备有限公司 | Walking wiring structure of rig floor manipulator |
| CN114920074B (en) * | 2022-05-05 | 2023-10-03 | 之江实验室 | Unpowered self-adaptive deployment and recovery track device for non-uniform cable dragging array |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1306582A (en) * | 1969-11-19 | 1973-02-14 | Inst Francais Du Petrole | Floating installation having means for the storage and hancling of a flexible line |
| US3720070A (en) * | 1971-07-07 | 1973-03-13 | Northern Electric Co | Apparatus and method for plowing cable or pipe |
| KR200382564Y1 (en) * | 2004-12-20 | 2005-04-22 | 국방과학연구소 | Device for protecting tugging cable into the water |
| KR20110009279A (en) * | 2009-07-22 | 2011-01-28 | 삼성물산 주식회사 | Sheave for transmission cable |
| CN201838938U (en) * | 2010-08-20 | 2011-05-18 | 中国海洋石油总公司 | Semicircular cable laying wheel |
| CN203166447U (en) * | 2013-04-10 | 2013-08-28 | 中国葛洲坝集团股份有限公司 | Cable guide device |
| EP2830172A2 (en) * | 2013-07-26 | 2015-01-28 | Maria Singerer Müller | Cable deflection bend |
| CN204279876U (en) * | 2014-10-13 | 2015-04-22 | 重庆帆洪船舶机械有限公司 | A kind of fairlead peculiar to vessel |
| CN205132743U (en) * | 2015-11-19 | 2016-04-06 | 攀钢集团攀枝花钢钒有限公司 | Cable elasticity reel chock |
| CN209383182U (en) * | 2018-12-26 | 2019-09-13 | 中国电子科技集团公司第三研究所 | A kind of idler wheel Dao Lan mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT506686B1 (en) * | 2008-05-05 | 2010-04-15 | Kuebel Johann Ing | CABLE GUIDE ELEMENT |
-
2018
- 2018-12-26 CN CN201811598633.1A patent/CN109534095B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1306582A (en) * | 1969-11-19 | 1973-02-14 | Inst Francais Du Petrole | Floating installation having means for the storage and hancling of a flexible line |
| US3720070A (en) * | 1971-07-07 | 1973-03-13 | Northern Electric Co | Apparatus and method for plowing cable or pipe |
| KR200382564Y1 (en) * | 2004-12-20 | 2005-04-22 | 국방과학연구소 | Device for protecting tugging cable into the water |
| KR20110009279A (en) * | 2009-07-22 | 2011-01-28 | 삼성물산 주식회사 | Sheave for transmission cable |
| CN201838938U (en) * | 2010-08-20 | 2011-05-18 | 中国海洋石油总公司 | Semicircular cable laying wheel |
| CN203166447U (en) * | 2013-04-10 | 2013-08-28 | 中国葛洲坝集团股份有限公司 | Cable guide device |
| EP2830172A2 (en) * | 2013-07-26 | 2015-01-28 | Maria Singerer Müller | Cable deflection bend |
| CN204279876U (en) * | 2014-10-13 | 2015-04-22 | 重庆帆洪船舶机械有限公司 | A kind of fairlead peculiar to vessel |
| CN205132743U (en) * | 2015-11-19 | 2016-04-06 | 攀钢集团攀枝花钢钒有限公司 | Cable elasticity reel chock |
| CN209383182U (en) * | 2018-12-26 | 2019-09-13 | 中国电子科技集团公司第三研究所 | A kind of idler wheel Dao Lan mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109534095A (en) | 2019-03-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109534095B (en) | Roller cable guide mechanism | |
| US3602175A (en) | Oil production vessel | |
| EP2917143B1 (en) | Orbiting fairlead block | |
| EP3344532B1 (en) | Tow body arrangement for a towable device in a sonar system | |
| JP2593458B2 (en) | Mooring device and method of installing mooring device | |
| AU2013341867A1 (en) | Orbiting fairlead block | |
| CN1863702A (en) | Fairlead with integrated chain stopper | |
| CN209383182U (en) | A kind of idler wheel Dao Lan mechanism | |
| EP2993493A2 (en) | Methods and apparatus for towing acoustic source sub-arrays | |
| CN201417311Y (en) | Towed body used for self-stabilization sonar platform | |
| US4441448A (en) | Controlled mooring | |
| CN201907634U (en) | U-shaped submerged buoy mooring device | |
| CN109556645B (en) | Underwater sound equipment mounting frame capable of rotating on two planes | |
| CN214296378U (en) | Support arrangement for boats and ships power pipeline | |
| US6109199A (en) | Capture and alignment mechanism for use on board an ocean going vessel | |
| CN113120163A (en) | Water surface robot | |
| CN110789667A (en) | Cable guiding device | |
| CN113460881A (en) | Marine hoist and mount hoist that stabilizes based on four cable are spacing | |
| CN220842881U (en) | Retraction device of submarine detection equipment | |
| KR102257143B1 (en) | Underwater device that can be towed | |
| DK153820B (en) | TANKING MESSAGE DEVICE. | |
| CN112591009A (en) | Unmanned ship underwater equipment support system capable of automatically lifting | |
| CN213535072U (en) | Anchor boat lifting propeller | |
| CN220730426U (en) | Acoustic information reflector and underwater dredging robot | |
| CN206231593U (en) | A kind of counterweight of ROV carries integrated apparatus with throwing |
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 |