CN111319735B - Three-stage folding and unfolding mechanism for boat - Google Patents
Three-stage folding and unfolding mechanism for boat Download PDFInfo
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- CN111319735B CN111319735B CN201811531924.9A CN201811531924A CN111319735B CN 111319735 B CN111319735 B CN 111319735B CN 201811531924 A CN201811531924 A CN 201811531924A CN 111319735 B CN111319735 B CN 111319735B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Actuator (AREA)
Abstract
The invention relates to underwater retraction equipment, in particular to a three-stage retraction mechanism for a boat, wherein a first-stage swing frame is hinged on a fixed underframe, one end of a first-stage hydraulic cylinder is hinged with the fixed underframe, the other end of the first-stage hydraulic cylinder is hinged on the first-stage swing frame, and the first-stage swing frame swings relative to the fixed underframe under the driving of the first-stage hydraulic cylinder; the second-stage sliding frame is connected with the first-stage swing frame in a sliding mode, one end of the second-stage sliding frame is provided with a roller, the other end of the second-stage sliding frame is provided with a cable guide frame, the second-stage hydraulic cylinder is installed on the first-stage swing frame, the output end of the second-stage hydraulic cylinder is hinged with the second-stage sliding frame, and the second-stage sliding frame slides relative to the first-stage swing frame under the driving of the second-stage hydraulic cylinder; tertiary slip table and second grade carriage sliding connection, tertiary pneumatic cylinder are installed on the second grade carriage, and the output is articulated with tertiary slip table, and tertiary slip table slides for the second grade carriage through the drive of tertiary pneumatic cylinder. The invention has the advantages of simple structure, convenient operation, safety, reliability, wide adaptability, high modularization degree, convenient disassembly and assembly and the like.
Description
Technical Field
The invention relates to underwater retraction equipment, in particular to a three-stage retraction mechanism for a boat, which can be applied to a surface boat and is used for realizing a mechanism for putting equipment cloth carried on the surface boat into water and completing retraction from the water.
Background
With the increasing struggle for the rights and interests of the ocean, the application range of various devices such as UUV (unmanned underwater vehicle), glider, underwater towed body and the like is wider and wider. The traditional laying and recovering mode of underwater equipment is mainly carried out by depending on a mother ship through a portal frame lifting mode. The mode has the defects of high requirement on mother ship configuration equipment, high uncertainty in retraction and extension, requirement of special people for observation and operation of retraction and extension and the like.
Disclosure of Invention
The invention aims to provide a three-stage retraction mechanism for a boat, which aims to more conveniently realize the deployment and the retraction of underwater equipment applied to ships. The three-stage retraction jack for the ship can be installed on a tail deck of the ship and has the advantages of simple structure, convenience in operation, safety, reliability, wide adaptability, high modularization degree, convenience in disassembly and assembly and the like.
The purpose of the invention is realized by the following technical scheme:
the hydraulic device comprises a fixed underframe, a primary swing frame, a secondary sliding frame, a roller, a tertiary sliding table, a cable guide frame, a primary hydraulic cylinder, a secondary hydraulic cylinder and a tertiary hydraulic cylinder, wherein the primary swing frame is hinged on the fixed underframe; the second-stage sliding frame is connected with the first-stage swing frame in a sliding mode, one end of the second-stage sliding frame is provided with a roller, the other end of the second-stage sliding frame is provided with the cable guide frame, the second-stage hydraulic cylinder is installed on the first-stage swing frame, the output end of the second-stage hydraulic cylinder is hinged with the second-stage sliding frame, and the second-stage sliding frame slides relative to the first-stage swing frame under the driving of the second-stage hydraulic cylinder; the three-level sliding table is connected with the second-level sliding frame in a sliding mode, the three-level hydraulic cylinder is installed on the second-level sliding frame, the output end of the three-level hydraulic cylinder is hinged with the three-level sliding table, and the three-level sliding table slides relative to the second-level sliding frame under the driving of the three-level hydraulic cylinder;
wherein: the primary swing frame is provided with a guide support for guiding the carrying equipment, the bottom of the guide support is arranged on the primary swing frame, the inner side of the top of the guide support is provided with an oblique beam, and the oblique beam is provided with a guide wheel;
the two sides of the primary swing frame are respectively provided with a primary hydraulic cylinder, the cylinder body of the primary hydraulic cylinder on each side is hinged with a hydraulic cylinder mounting seat A fixedly connected on the fixed underframe, and the output end of the primary hydraulic cylinder on each side is hinged with a hydraulic cylinder mounting seat B fixedly connected on the primary swing frame;
a swing frame mounting seat A is fixedly connected to the fixed underframe, a swing frame mounting seat B is fixedly connected to the first-level swing frame, and the swing frame mounting seat B is hinged to the swing frame mounting seat A;
the primary swing frame comprises a sliding block, an upright post, a cross beam and longitudinal beams, the upright post and the longitudinal beams are arranged on each side of the cross beam, the upright post is fixed on the longitudinal beams, the longitudinal beams on two sides are connected through the cross beam, the sliding block is arranged on the inner side of each longitudinal beam, and the secondary sliding frame slides along the sliding block under the driving of a secondary hydraulic cylinder;
the other end of the primary hydraulic cylinder is hinged to the upright post, and the longitudinal beam is hinged to the fixed underframe; the cylinder body of the secondary hydraulic cylinder is arranged on the cross beam;
the two sides of the secondary sliding frame are provided with slideways connected with the three-level sliding table in a sliding manner, the secondary sliding frame is provided with a mounting plate, and a cylinder body of the three-level hydraulic cylinder is mounted on the mounting plate; one end of the secondary sliding frame is provided with a square hole, a fixed plate is arranged below the square hole, a guide pulley seat is fixedly connected onto the fixed plate, a guide pulley is rotatably arranged on the guide pulley seat, and the guide pulley penetrates through the square hole;
the diameters of the two sides of the roller are larger than that of the middle of the roller, namely the upper side and the lower side of the axial section are both V-shaped; a U-shaped groove is formed in the middle of the roller;
the cable guide frame is of a portal structure, two sides of the cable guide frame are formed by welding channel steel, the two sides of the cable guide frame are connected through a pin shaft D, and a rotatable nylon sleeve is sleeved on the outer side of the pin shaft D.
The invention has the advantages and positive effects that:
1. the safety and the reliability are realized; the invention adopts a hydraulic system as a power source and a hydraulic cylinder as an actuating mechanism, and the whole distribution and recovery process is safe and controllable.
2. The structure is simple; the invention is composed of a simple mechanical structure and a hydraulic system, and has simple structure and convenient disassembly and assembly.
3. The modularization degree is high; the whole system of the invention forms a module which can be conveniently arranged on the deck of the ship and has high modularization degree.
4. Has the characteristic of convenient operation; the main mechanism action of the invention is divided into a swing action and two sliding actions, the sequence is clear, and the operation is very convenient.
5. The method has the characteristic of wide adaptability; the underwater equipment fixing device can adapt to the distribution and recovery of various underwater equipment, and only the corresponding capturing mechanism is required to be changed.
6. The unmanned surface vessel has the characteristics of being applicable to unmanned surface vessels; the invention combines a reasonable control strategy, can be applied to unmanned surface vessels, and can realize automatic arrangement and recovery of equipment.
Drawings
FIG. 1 is a front view of the overall structure of the present invention;
FIG. 2 is a top view of the overall structure of the present invention;
FIG. 3 is a schematic perspective view of the present invention;
FIG. 4 is a top view of the fixed base frame of the present invention;
FIG. 5 is a schematic perspective view of a fixed base frame according to the present invention;
FIG. 6 is a perspective view of a primary swing frame according to the present invention;
FIG. 7 is a top view of the two-stage carriage of the present invention;
FIG. 8 is a schematic perspective view of a secondary carriage according to the present invention;
FIG. 9 is a front view of the guide bracket of the present invention;
FIG. 10 is a top view of FIG. 9;
FIG. 11 is a front view of the roller of the present invention;
FIG. 12 is a sectional view showing the structure of a roller according to the present invention;
FIG. 13 is a front view of the structure of the cable tray of the present invention;
FIG. 14 is a left side view of FIG. 13;
FIG. 15 is a top view of FIG. 13;
wherein: 1 is a fixed underframe, 101 is a hydraulic cylinder mounting seat A, 102 is a pin shaft A, 103 is a pin shaft B, 104 is a hydraulic cylinder mounting seat B, 105 is a swing frame mounting seat A, 106 is a swing frame mounting seat B106, 107 is a pin shaft C, and 108 is a rib plate;
2, a first-stage swing frame, 201, a slide block, 202, an upright post, 203 and 204 are longitudinal beams;
3, a secondary sliding frame, 301, a slide way, 302, a mounting plate, 303, a square hole, 304, a fixed plate and 305, wherein the sliding frame is a sliding rail;
4, a guide support, 401, 402, a guide wheel and 403 are oblique beams;
5 is a roller, 501 is a U-shaped groove;
6 is a three-stage sliding table;
7, a cable guide frame, 701, a pin shaft D, 702, a nylon sleeve and 703, channel steel;
8 is a first-stage hydraulic cylinder, 9 is a second-stage hydraulic cylinder, and 10 is a third-stage hydraulic cylinder.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, the invention comprises a fixed underframe 1, a primary swing frame 2, a secondary sliding frame 3, a guide support 4, a roller 5, a tertiary sliding table 6, a cable guide frame 7, a primary hydraulic cylinder 8, a secondary hydraulic cylinder 9 and a tertiary hydraulic cylinder 10, wherein the fixed underframe 1 is installed on a tail deck of a water surface ship, the primary swing frame 2 is hinged on the fixed underframe 1, one end of the primary hydraulic cylinder 8 is hinged with the fixed underframe 1, the other end of the primary hydraulic cylinder 8 is hinged on the primary swing frame 2, and the primary swing frame 2 swings relative to the fixed underframe 1 under the driving of the primary hydraulic cylinder 8. Second grade carriage 3 and 2 sliding connection of one-level swing span, this second grade carriage 3's one end (front end) are equipped with gyro wheel 5, and fairlead frame 7 is installed to the other end (rear end), is used for realizing dragging the direction of body connecting cable under water, and the cylinder body of second grade pneumatic cylinder 9 is installed on one-level swing span 2, and the output is articulated with second grade carriage 2, and second grade carriage 3 slides for one-level swing span 2 through the drive of second grade pneumatic cylinder 9. Tertiary slip table 6 and second grade carriage 3 sliding connection, the cylinder body of tertiary pneumatic cylinder 10 is installed on second grade carriage 3, and the output is articulated with tertiary slip table 6, and tertiary slip table 6 slides for second grade carriage 3 through tertiary pneumatic cylinder 10's drive. Install on the one-level swing span 2 and realize the guide support 4 of direction to carrying equipment, this guide support 4 is located between gyro wheel 5 and tertiary slip table 6.
As shown in fig. 1 to 5, the fixed base frame 1 is rectangular as a whole and is partially reinforced by a rib plate 108. The fixed chassis 1 is provided with a plurality of threaded holes for fixing the hydraulic cylinder mount a101 and the swing frame mount a 105. Both sides of the length direction of the fixed underframe 1 are fixedly connected with hydraulic cylinder mounting seats A101, and both sides of the front end of the fixed underframe 1 are fixedly connected with swing frame mounting seats A105. The two sides of the one-level swing frame 2 are both provided with one-level hydraulic cylinders 8, the cylinder body of each one-level hydraulic cylinder 8 is hinged to a hydraulic cylinder mounting seat A101 fixedly connected to the fixed underframe 1 through a pin shaft A102, and the output end of each one-level hydraulic cylinder 8 is hinged to a hydraulic cylinder mounting seat B104 fixedly connected to the one-level swing frame 2 through a pin shaft B103. The lower surfaces of two sides of the first-level swing frame 2 are fixedly connected with swing frame installation seats B106, and the swing frame installation seats B106 on the two sides are respectively hinged with the swing frame installation seats A105 on the two sides through pin shafts C107.
As shown in fig. 1 to 3 and fig. 6, the primary swing frame 2 includes a slider 201, an upright 202, a cross beam 203 and a longitudinal beam 204, the upright 202 and the longitudinal beam 204 are disposed on each side of the cross beam 203, the lower end of the upright 202 is fixed on the longitudinal beam 204, the upper end is fixedly connected with a hydraulic cylinder mounting seat B104, and the other end of the primary hydraulic cylinder 8 is hinged to the hydraulic cylinder mounting seat B104 on the upper end of the upright 202. The longitudinal beams 204 on the two sides are connected through a cross beam 203, and the cylinder body of the secondary hydraulic cylinder 9 is installed on the cross beam 203. A slide block 201 is mounted on the inner side of each side longitudinal beam 204, and the secondary sliding frame 3 slides along the slide block 201 by the driving of the secondary hydraulic cylinder 9. The lower surface of each side longitudinal beam 204 is fixedly connected with a swing mounting seat B106 which is used for being hinged with swing frame mounting seats A105 at two sides of the front end of the fixed underframe 1.
As shown in fig. 1 to 3, 7 and 8, the main body of the secondary sliding frame 3 is an i-shaped aluminum structure, two sides of the main body are provided with slideways 301 slidably connected with the three-stage sliding table 6, a mounting plate 302 is fixed on the secondary sliding frame 3, and the cylinder body of the three-stage hydraulic cylinder 10 is mounted on the mounting plate 302. The front end of second grade carriage 3 has square hole 303, and the below of this square hole 303 is equipped with fixed plate 304, and the rigid coupling has the guide pulley seat on the fixed plate 304, and the last rotation of guide pulley seat installs guide pulley 305, and guide pulley 305 passes by square hole 303, is used for realizing the direction of carrying on equipment.
As shown in fig. 1 to 3, 9 and 10, the main body of the guide bracket 4 is formed by welding a channel aluminum structure, flat plates 401 are welded to the lower portions of the two sides, and four threaded holes are formed in the two flat plates 401 respectively and used for fixedly connecting the guide bracket 4 and the first-stage swing frame 2. Two oblique beams 403 are symmetrically arranged on the inner side of the top of the guide support 4, the inclination angle of each oblique beam 403 is 45 degrees, and each oblique beam 403 is provided with a guide wheel for guiding the carrying equipment.
As shown in fig. 1 to 3, 11 and 12, the diameters of both sides of the roller 5 are larger than the diameter of the middle, that is, the upper and lower sides of the axial section are both V-shaped; the middle of the roller 5 is provided with a U-shaped groove 501 for limiting the position of the cable. The roller 5 is rotatably mounted at the front end of the secondary carriage 3 for guiding flexible cables such as cables.
As shown in fig. 1 to 3 and fig. 13 to 15, the cable guide frame 7 is of a portal structure, two sides of the cable guide frame are formed by welding channel steel 703, the lower ends of the channel steel 703 at the two sides are fixed at the rear end of the secondary sliding frame 3, the two sides are connected through a pin shaft D701, and a rotatable nylon sleeve 702 is sleeved outside the pin shaft D701. When the cable passes through the cable guide frame 7, the nylon sleeve 702 can rotate along with the cable, so that the cable is guided.
The working principle of the invention is as follows:
the invention can be installed on the deck of a surface ship, and realizes the water input and recovery of the surface ship carrying equipment. The hydraulic system is used as a power source, and the hydraulic system drives a mechanical structure to realize the whole distribution and recovery process. The primary swing frame is driven by the primary hydraulic cylinder to realize the inclination of the whole mechanism; the upward and downward sliding of the carrying equipment is realized through the driving of the secondary hydraulic cylinder and the tertiary hydraulic cylinder.
Claims (8)
1. The utility model provides a three-level jack for ship which characterized in that: the device comprises a fixed chassis (1), a first-stage swing frame (2), a second-stage sliding frame (3), a roller (5), a third-stage sliding table (6), a cable guide frame (7), a first-stage hydraulic cylinder (8), a second-stage hydraulic cylinder (9) and a third-stage hydraulic cylinder (10), wherein the first-stage swing frame (2) is hinged to the fixed chassis (1), one end of the first-stage hydraulic cylinder (8) is hinged to the fixed chassis (1), the other end of the first-stage hydraulic cylinder (8) is hinged to the first-stage swing frame (2), and the first-stage swing frame (2) swings relative to the fixed chassis (1) through the driving of the first-stage hydraulic cylinder (8); the two-stage sliding frame (3) is connected with the one-stage swinging frame (2) in a sliding mode, one end of the two-stage sliding frame (3) is provided with a roller (5), the other end of the two-stage sliding frame is provided with the cable guide frame (7), the two-stage hydraulic cylinder (9) is installed on the one-stage swinging frame (2), the output end of the two-stage hydraulic cylinder is hinged with the two-stage sliding frame (2), and the two-stage sliding frame (3) slides relative to the one-stage swinging frame (2) under the driving of the two-stage hydraulic cylinder (9); the three-level sliding table (6) is connected with the second-level sliding frame (3) in a sliding mode, the three-level hydraulic cylinder (10) is installed on the second-level sliding frame (3), the output end of the three-level sliding table is hinged to the three-level sliding table (6), and the three-level sliding table (6) slides relative to the second-level sliding frame (3) under the driving of the three-level hydraulic cylinder (10);
the device comprises a primary swing frame (2), wherein a guide support (4) for guiding carrying equipment is mounted on the primary swing frame (2), the bottom of the guide support (4) is mounted on the primary swing frame (2), an oblique beam (403) is mounted on the inner side of the top of the guide support, and a guide wheel (402) is arranged on the oblique beam (403).
2. The three-stage stowing and releasing mechanism for a boat according to claim 1, characterized in that: the two sides of the one-level swing frame (2) are provided with one-level hydraulic cylinders (8), the cylinder body of each one-level hydraulic cylinder (8) is hinged to a hydraulic cylinder mounting seat A (101) fixedly connected to the fixed bottom frame (1), and the output end of each one-level hydraulic cylinder (8) is hinged to a hydraulic cylinder mounting seat B (104) fixedly connected to the one-level swing frame (2).
3. The three-stage stowing and releasing mechanism for a boat according to claim 1, characterized in that: a swing frame mounting seat A (105) is fixedly connected to the fixed underframe (1), a swing frame mounting seat B (106) is fixedly connected to the first-level swing frame (2), and the swing frame mounting seat B (106) is hinged to the swing frame mounting seat A (105).
4. The three-stage stowing and releasing mechanism for a boat according to claim 1, characterized in that: the one-level swing frame (2) comprises a sliding block (201), an upright post (202), a cross beam (203) and longitudinal beams (204), the upright post (202) and the longitudinal beams (204) are arranged on each side of the cross beam (203), the upright post (202) is fixed on the longitudinal beams (204), the longitudinal beams (204) on two sides are connected through the cross beam (203), the sliding block (201) is arranged on the inner side of each longitudinal beam (204), and the second-level sliding frame (3) slides along the sliding block (201) through the driving of the second-level hydraulic cylinder (9).
5. The three-stage stowing and releasing mechanism for a boat according to claim 4, characterized in that: the other end of the primary hydraulic cylinder (8) is hinged to the upright column (202), and the longitudinal beam (204) is hinged to the fixed underframe (1); the cylinder body of the secondary hydraulic cylinder (9) is arranged on the cross beam (203).
6. The three-stage stowing and releasing mechanism for a boat according to claim 1, characterized in that: the two sides of the secondary sliding frame (3) are respectively provided with a slideway (301) which is connected with the three-level sliding table (6) in a sliding manner, the secondary sliding frame (3) is provided with a mounting plate (302), and the cylinder body of the three-level hydraulic cylinder (10) is mounted on the mounting plate (302); one end of the secondary sliding frame (3) is provided with a square hole (303), a fixing plate (304) is arranged below the square hole (303), a guide pulley seat is fixedly connected onto the fixing plate (304), a guide pulley (305) is rotatably mounted on the guide pulley seat, and the guide pulley (305) penetrates through the square hole (303).
7. The three-stage stowing and releasing mechanism for a boat according to claim 1, characterized in that: the diameters of the two sides of the roller (5) are larger than that of the middle part, namely the upper side and the lower side of the axial section are both V-shaped; and a U-shaped groove (501) is formed in the middle of the roller (5).
8. The three-stage stowing and releasing mechanism for a boat according to claim 1, characterized in that: the cable guide frame (7) is of a portal structure, two sides of the cable guide frame are formed by welding channel steel (703), the two sides of the cable guide frame are connected through a pin shaft D (701), and a rotatable nylon sleeve (702) is sleeved on the outer side of the pin shaft D (701).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811531924.9A CN111319735B (en) | 2018-12-14 | 2018-12-14 | Three-stage folding and unfolding mechanism for boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811531924.9A CN111319735B (en) | 2018-12-14 | 2018-12-14 | Three-stage folding and unfolding mechanism for boat |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111319735A CN111319735A (en) | 2020-06-23 |
| CN111319735B true CN111319735B (en) | 2021-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811531924.9A Active CN111319735B (en) | 2018-12-14 | 2018-12-14 | Three-stage folding and unfolding mechanism for boat |
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| CN (1) | CN111319735B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114253231A (en) * | 2021-11-26 | 2022-03-29 | 海鹰企业集团有限责任公司 | Multistage laying control system for ship |
| CN114212193B (en) * | 2021-12-24 | 2023-03-28 | 中国科学院沈阳自动化研究所 | Underwater robot passive sliding rail arrangement and recovery system and method |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100641890B1 (en) * | 2005-10-11 | 2006-11-10 | 한국해양연구원 | An apparatus for deployment and recovery of marine survey equipments |
| FR2896765A1 (en) * | 2006-01-31 | 2007-08-03 | Eutdes 2 L Sarl | Hauling device for e.g. setting canoe in water, has support arms supporting canoe and be retracted after setting canoe in water, and hauling winch permitting to lift canoe out of water and to position canoe on arms |
| US20110205840A1 (en) * | 2010-02-19 | 2011-08-25 | Hayes Robert W | Seismic equipment handling |
| CN103057927B (en) * | 2013-01-15 | 2015-09-09 | 湖南晨光机器制造有限公司 | A kind of hydraulic foldable conveying arm transporting sand self-unloading oceangoing ship |
| CN104890835B (en) * | 2015-06-09 | 2017-05-24 | 哈尔滨工程大学 | Submersible vehicle recycling and laying device capable of recycling and laying at two stages |
| US9708035B1 (en) * | 2016-09-22 | 2017-07-18 | The United States Of America As Represented By The Secretary Of The Navy | Variable length inflatable ramp launch and recovery system |
| CN108528640B (en) * | 2018-03-27 | 2020-04-07 | 哈尔滨工程大学 | Blocking cable type automatic butt joint recycling device and method based on slideway recycling UUV |
| CN108945317B (en) * | 2018-07-17 | 2023-11-07 | 湖南科技大学 | Cabin-mounted submerged full-hydraulic horizontal release device |
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