CN111717353A - Guide type recycling mechanism capable of recycling underwater robot repeatedly - Google Patents
Guide type recycling mechanism capable of recycling underwater robot repeatedly Download PDFInfo
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- CN111717353A CN111717353A CN202010606319.4A CN202010606319A CN111717353A CN 111717353 A CN111717353 A CN 111717353A CN 202010606319 A CN202010606319 A CN 202010606319A CN 111717353 A CN111717353 A CN 111717353A
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- clamping
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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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Abstract
The invention belongs to the field of autonomous underwater robots, in particular to a guide type recovery mechanism of a recyclable underwater robot.A shell is mounted on the underwater robot at the rear end, the front end of the shell is respectively connected with a hoisting block and a floating block, the output end of an electric push rod A penetrates out of the shell, clamping rods are symmetrically arranged on two sides of the shell, one end of each clamping rod on each side is hinged with a supporting plate mounted on the shell, the other end of each clamping rod is hinged with a clamping tongue, a torsion spring is arranged between each clamping rod and each clamping tongue, and the output end of the electric push rod A is respectively connected with the clamping rods on two sides through a driving rod A; the output end of the electric push rod B penetrates out of the shell, guide rods are symmetrically arranged on two sides of the shell, each guide rod is hinged to the support plate, the output end of the electric push rod B is connected with the guide rods on two sides through the driving rod B respectively, and the guide rods are driven to open or close. The invention has simple integral structure, reliable performance, convenient maintenance and strong practicability.
Description
Technical Field
The invention belongs to the field of autonomous underwater robots, and particularly relates to a guide type recovery mechanism capable of repeatedly recovering an underwater robot.
Background
In recent years, autonomous underwater robots are becoming more and more mature and have been widely used in the fields of marine scientific research, resource investigation and military. However, since the autonomous underwater robot carries energy and is restricted by the technical development level of batteries and the like, the capability and further popularization and application of the autonomous underwater robot are limited, and frequent docking and recovery are required. The traditional manned recovery mode has the problems of high operation cost, large personnel risk, complex recovery procedure, low automation level, low operation efficiency and the like, and also becomes the bottleneck of hindering the wide application of the autonomous underwater robot, and the recovery mode is developed towards the direction of less humanization or no humanization.
Disclosure of Invention
Aiming at the problems of complex structure, low butt joint success rate and the like of the existing underwater butt joint/recovery mechanism, the invention aims to provide a guide type recovery mechanism capable of repeatedly recovering an underwater robot. The guiding type recovery mechanism is arranged at the front end of the autonomous underwater robot and is used for autonomously recovering the underwater robot by an unmanned ship or other platforms.
The purpose of the invention is realized by the following technical scheme:
the underwater robot comprises a shell, a passive clamping/active releasing mechanism, a guide mechanism, a hoisting block and a floating block, wherein the rear end of the shell is installed on an underwater robot, the front end of the shell is respectively connected with the hoisting block and the floating block, the passive clamping/active releasing mechanism comprises an electric push rod A installed in the shell, and a driving rod A, clamping rods, a torsion spring and a clamping tongue which are positioned outside the shell, the output end of the electric push rod A penetrates out of the shell, the clamping rods are symmetrically arranged on two sides of the shell, one end of each clamping rod on each side is hinged to a supporting plate installed on the shell, the other end of each clamping rod is hinged to the clamping tongue, the torsion spring is arranged between the clamping tongue and the clamping rods, and the output end of the electric push rod A is respectively connected with the clamping rods on two sides through; the guide mechanism comprises an electric push rod B arranged in the shell, and a drive rod B and a guide rod which are positioned outside the shell, wherein the output end of the electric push rod B penetrates out of the shell, the guide rods are symmetrically arranged on two sides of the shell, each side of the guide rods is hinged with the support plate, the output end of the electric push rod B is respectively connected with the guide rods on two sides through the drive rod B to drive the two sides of the guide rods to be opened or closed.
Wherein: the other end of the clamping rod is provided with a U-shaped groove B for preventing the clamping tongue from rotating outwards, the torsion spring is contained in the U-shaped groove B, two ends of the torsion spring are respectively abutted against the clamping tongue and the groove bottom surface of the U-shaped groove B, and the clamping tongue is limited through the groove bottom surface of the U-shaped groove B.
The supporting rod is provided with a strip-shaped hole A, the driving rod A is in an L shape, one end of the driving rod A is connected with the output end of the electric push rod A, the other end of the driving rod A is inserted into the strip-shaped hole A, and the other end of the driving rod A driven by the stretching of the output end of the electric push rod A slides in the strip-shaped hole A and then drives the supporting rod to be opened or closed.
The one end and the backup pad of guide bar are articulated, and the other end is colluded the form, has seted up bar hole B on this guide bar, actuating lever B is "L" shape, one end with electric putter B's output links to each other, and the other end inserts in the bar hole B, through the flexible other end that drives actuating lever B of electric putter B output slides in bar hole B, and then drives the guide bar opens or is closed.
One end of the hoisting block is installed on the shell, the other end of the hoisting block is provided with a U-shaped groove A, arc-shaped grooves are formed in two sides of the U-shaped groove A from bottom to top, and the bottom of each side of the U-shaped groove A is in a hook shape.
The clamping tongue driven by the clamping rod is positioned below the hoisting block and is closed under the action of the elasticity of the torsion spring when not subjected to collision force, so that the U-shaped groove A at the other end of the hoisting block is in a closed state; the guide rod is located above the lifting block.
The guide rods are V-shaped, the guide rods on the two sides are abutted to the outer surface of the underwater robot in a closed state, and extend to the front end of the underwater robot in an open state to form the V shape.
And the floating block is provided with a correlation infrared detector.
The floating blocks are divided into an upper floating block, a lower floating block, a left floating block and a right floating block, the supporting plate is divided into a supporting plate A and a supporting plate B, the upper floating block is arranged on the upper surface of the supporting plate B, the lower floating block is arranged on the lower surface of the supporting plate A, and the upper floating block and the lower floating block are identical in shape and are in a streamline shape; the left floating block and the right floating block are arranged on the left side and the right side between the supporting plate A and the supporting plate B, and the correlation infrared detectors are arranged on the left floating block and the right floating block and are symmetrically arranged.
And the shell is respectively provided with an acoustic guiding device and a visual optical guiding device.
The invention has the advantages and positive effects that:
1. the underwater robot can realize underwater 360-degree underwater butt joint by the autonomous underwater robot, so that unmanned recovery of the autonomous underwater robot is completed, the efficiency of recovering the autonomous underwater robot is greatly improved, the labor intensity of operators is reduced, and the automation level of a recovery process is improved.
2. The invention adopts passive capture, completes the capture of the rope or the butt joint rod under the action of the collision force, is more convenient and reliable, simultaneously has the function of preventing the rope or the butt joint rod from being separated, and can complete the release of the rope or the butt joint rod only under the drive of the electric push rod.
3. The invention adopts the guide mechanism to guide the rope or the butt joint rod into the passive clamping/active releasing mechanism, the span of the guide rod in the guide mechanism also reduces the navigation precision requirement on the autonomous underwater robot, and improves the underwater butt joint success rate.
4. According to the invention, the guide mechanism and the passive clamping/active releasing mechanism are both driven by the electric push rod, so that the problem of clamping stagnation caused by the interference of external factors on the mechanism per se can be avoided, and the device is safe, reliable, good in stability and convenient to maintain.
5. The underwater unmanned docking and recovering device has better universality, and the autonomous underwater robots with different sizes can realize unmanned underwater docking and recovering only by mounting the capturing mechanism at the head.
6. The passive clamping/active releasing mechanism and the guide mechanism are mutually independent and are respectively driven by a set of electric push rod, so that the structure is simple and compact, and the guide and clamping movement is reliable; the passive clamping/active releasing mechanism is conformal with the underwater robot through the floating block, and the guide device is closed in the navigation process, so that the influence on the control performance of the underwater robot can be reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention (the guide mechanism is in a closed state);
FIG. 2 is a schematic view of the overall structure of the present invention (the guide mechanism is in an open state);
FIG. 3 is a schematic view of the structure of FIG. 1 with the floating mass removed;
FIG. 4 is a schematic view of the structure of FIG. 2 with the floating mass removed;
FIG. 5 is a schematic structural view of the guide mechanism of the present invention;
FIG. 6 is a schematic structural diagram of the passive clamping/active releasing mechanism of the present invention in an active releasing state;
FIG. 7 is a schematic structural diagram of the passive clamping/active releasing mechanism of the present invention in a passive clamping state;
FIG. 8 is an enlarged view of a portion of the hoist block of FIG. 3;
wherein: the device comprises a passive clamping/active releasing mechanism 1, a guide mechanism 2, a hoisting block 3, an electric push rod A4, a driving rod A5, a correlation infrared detector 6, a flange 7, a support plate A8, a floating block 9, a guide rod 10, a clamping rod 11, a torsion spring 12, a clamping tongue 13, a pin shaft A14, a bolt 15, a nut 16, an acoustic guiding device 17, a camera 18, a pin shaft B19, an electric push rod B20, a driving rod B21, a support plate B22, a pin shaft C23, a U-shaped groove A24, an arc-shaped groove 25, a U-shaped groove B26, a strip-shaped hole A27 and a strip-shaped hole B28.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 8, the invention includes a housing, a passive clamping/active releasing mechanism 1, a guiding mechanism 2, a lifting block 3, a correlation infrared detector 6, a floating block 9, an acoustic guiding device 17 and a visual optical guiding device, wherein the rear end of the housing is installed on an underwater robot, the front end of the housing is connected with the lifting block 3 and the floating block 9 respectively, the housing of the embodiment includes two flanges 7 connected through a connecting plate, the top of the housing is installed with the acoustic guiding device 17, and the bottom of the housing is installed with the visual optical guiding device, the acoustic guiding device 17 of the embodiment can be an ultra-short beacon, and is matched with an ultra-short transducer on an unmanned boat or a recovery platform for remote acoustic guiding; the ultrashort transducer and the ultrashort beacon of the present embodiment are both commercially available products, which are purchased from ev logic, germany, and have a product model number of S2CR series; the visual optical guidance device of the present embodiment is a camera 18.
The passive clamping/active releasing mechanism 1 of the present embodiment includes an electric push rod a4 installed in the housing, and an actuating rod a5, a supporting plate A8, a clamping rod 11, a torsion spring 12 and a latch 13 located outside the housing, wherein the electric push rod a4 is fixed on the flange 7 at the rear end through a bolt 15, and a telescopic rod (i.e., the output end of the electric push rod a 4) of the electric push rod a4 penetrates out of the flange 7 at the front end; the two sides of the telescopic rod of the electric push rod A4 are symmetrically provided with clamping rods 11, one end of each clamping rod 11 is hinged with a support plate A8 through a pin shaft A14 to form a rotating pair, the support plate A8 is fixedly connected to the outer surface of the front end flange 7 through a bolt 15, and the other end of each clamping rod 11 is hinged with a clamping tongue 13 through a pin shaft B19; the other end of the clamping rod 11 is provided with a U-shaped groove B26 for preventing the clamping tongue 13 from rotating outwards, the clamping tongue 13 is limited by the groove bottom surface of the U-shaped groove B26 and can only move inwards, and the rope or the butt-joint rod is prevented from being separated from the passive clamping/active releasing mechanism 1 in an unreleased state; a torsion spring 12 is arranged between the latch 13 and the clamping rod 11, the torsion spring 12 is accommodated in the U-shaped groove B26, and two ends of the torsion spring are respectively abutted against the bottom surfaces of the latch 13 and the U-shaped groove B26. The telescopic rod of the electric push rod A4 is respectively connected with the clamping rods 11 at two sides through the driving rod A5 to drive the clamping rods 11 at two sides to move, so as to drive the clamping rods 11 at two sides to open or close; the strip hole A27 has been seted up on the supporting rod 11 of this embodiment, and actuating lever A5 is "L" shape, and one end links to each other with electric putter A4's telescopic link, and in the other end inserted strip hole A27, the other end that drives actuating lever A5 through the flexible of electric putter A4 telescopic link slides in strip hole A27, and then drives supporting rod 11 and open or closed.
The guide mechanism 2 of the embodiment includes an electric push rod B20 installed in the housing, and a driving rod B21, a supporting plate B22 and a guide rod 10 located outside the housing, wherein the electric push rod B20 is fixed on the flange 7 at the rear end through bolts, and an expansion link (i.e., the output end of the electric push rod B20) of the electric push rod B20 penetrates out of the flange 7 at the front end; the two sides of the telescopic rod of the electric push rod B20 are symmetrically provided with guide rods 10, one end of each side of the guide rod 10 is hinged with a support plate B22 through a pin shaft C23 to form a rotating pair, the support plate B22 is fixedly connected to the outer surface of the front end flange 7 through a bolt 15, and the other end of each side of the guide rod 10 is in a hook shape; the telescopic rod of the electric push rod B20 is respectively connected with the guide rods 10 at two sides through the drive rod B21 to drive the guide rods 10 at two sides to rotate around the pin shaft C23, so as to drive the guide rods 10 at two sides to open or close; seted up strip hole B28 on the guide bar 10 of this embodiment, actuating lever B21 is "L" shape, and one end links to each other with electric putter B20's telescopic link, and in the other end inserted strip hole B28, the other end that drives actuating lever B21 through the flexible of electric putter B20 telescopic link slides in strip hole B28, and then drives guide bar 10 and open or closed. The guide rods 10 are V-shaped, the guide rods 10 on two sides are abutted to the outer surface of the underwater robot in a closed state, and extend to the front end of the underwater robot in an open state to form the V-shape, so that the range of capturing ropes or butt-joint rods is enlarged.
The one end of jack block 3 of this embodiment is passed through the bolt rigid coupling on the surface of front end ring flange 7, and U-shaped groove A24 has been seted up to the other end, and arc wall 25 has all been seted up from bottom to top to the both sides of this U-shaped groove A24, and the bottom of U-shaped groove A24 every side all is colluded the form, is convenient for to storing of rope or butt joint pole and lifting by crane to underwater robot. The clamping tongue 13 driven by the clamping rod 11 is positioned below the hoisting block 3, and the guide rod 10 is positioned above the hoisting block 3; when the clamping tongue 13 is not subjected to collision force, the clamping tongue is closed under the action of the elastic force of the torsion spring 12, so that the U-shaped groove A24 at the other end of the hoisting block 3 is in a closed state; when the latch 13 is subjected to a collision force, the latch 13 rotates around the pin B19 hinged to the clamping rod 11 under the action of the collision force against the elastic force of the torsion spring 12, so that the rope or the docking rod enters the U-shaped groove a24 at the other end of the jack block 3.
The floating block 9 of the embodiment is divided into an upper floating block, a lower floating block, a left floating block and a right floating block, the upper floating block is arranged on the upper surface of the support plate B22, the lower floating block is arranged on the lower surface of the support plate A8, the upper floating block and the lower floating block are in the same shape and are in streamline shapes, and the streamline shape of the outer surface of the underwater robot is kept; the left and right floating blocks are installed at left and right sides between the supporting plate A8 and the supporting plate B22. In the embodiment, the two opposite infrared detectors 6 are fixed on the left floating block and the right floating block through nuts 16, and the two opposite infrared detectors 6 are symmetrically arranged; the correlation infrared detector 6 of the present embodiment is commercially available and is available from Shanghai Hui Kogyo Co., Ltd., model number E3F-5DN 2.
The working principle of the invention is as follows:
when the underwater robot needs to be docked underwater and recovered from an autonomous underwater robot, the underwater robot sails close to an unmanned boat or a recovery platform through the acoustic guide device 17 or the visual optical guide device 18, and when the distance between the underwater robot and a recovery rope/butt joint rod is less than 50m, the electric push rod B20 in the guide mechanism 2 pushes the telescopic rod forwards to drive the driving rod B21 to move forwards, so that the guide rod 10 is opened, and the collision probability between the passive closing clamping mechanism and the rope/butt joint rod is increased. The underwater robot further approaches the rope/butt-joint rod, when the rope/butt-joint rod enters the span of the guide rod 10, the rope/butt-joint rod approaches the passive clamping/active releasing mechanism 1 under the action of the guide rod 10 as the underwater robot continues to advance; firstly, the underwater robot is contacted with the clamping tongue 13, under the action of collision force of the rope/butt joint rod and the clamping tongue 13, the acting force of the torsion spring 12 is overcome, the rope/butt joint rod opens the clamping tongue 13 and enters the U-shaped groove A24 of the hoisting block 3 (at the moment, the passive clamping/active releasing mechanism 1 is in a closed state), the underwater robot is further confirmed through the opposite infrared detector 6, when the rope/butt joint rod enters the passive clamping/active releasing mechanism 1, the rope/butt joint rod is captured, the underwater robot is recovered through recovering the rope/butt joint rod in the next step, and the weight of the underwater robot is born by the hoisting block 3.
When the underwater robot finishes underwater capture and preparation recovery, and when some emergencies need to release the underwater robot in water, the passive clamping/active release mechanism 1 is in a closed state, the clamping tongue 13 is restrained by the U-shaped groove B26 on the clamping rod 11, which prevents the rope/butt-joint rod from disengaging, the rope/butt-joint rod cannot be released, and the underwater robot can only finish the underwater capture and recovery through the passive clamping/active release mechanism 1. The electric push rod A4 in the passive clamping/active release mechanism 1 retracts the telescopic rod backwards to drive the driving rod A5 to move backwards, so that the clamping rod 11 and the clamping tongue 13 arranged on the clamping rod are far away from each other, namely the passive clamping/active release mechanism 1 does not seal the U-shaped groove A24 of the hoisting block 3, the rope/butt joint rod can be freely separated, and the underwater robot is released.
Claims (10)
1. The utility model provides a mechanism is retrieved to direction formula that can repeatedly retrieve underwater robot which characterized in that: the underwater robot comprises a shell, a passive clamping/active releasing mechanism (1), a guide mechanism (2), a hoisting block (3) and a floating block (9), wherein the rear end of the shell is installed on an underwater robot, the front end of the shell is connected with the hoisting block (3) and the floating block (9) respectively, the passive clamping/active releasing mechanism (1) comprises an electric push rod A (4) installed in the shell, a driving rod A (5) positioned outside the shell, clamping rods (11), a torsion spring (12) and clamping tongues (13), the output end of the electric push rod A (4) penetrates out of the shell, the clamping rods (11) are symmetrically arranged on two sides of the shell, one end of each clamping rod (11) is hinged with a supporting plate installed on the shell, the other end of each clamping rod is hinged with a clamping tongue (13), the torsion spring (12) is arranged between each clamping tongue (13) and each clamping rod (11), the output end of the electric push rod A (4) is connected with the clamping rods (11) on, the clamping rods (11) at two sides are driven to open or close; guiding mechanism (2) are worn out by the casing including installing electric putter B (20) in the casing and being located casing outer actuating lever B (21) and guide bar (10), this electric putter B (20) output, and bilateral symmetry is equipped with guide bar (10), every side guide bar (10) all with the backup pad is articulated, the output of electric putter B (20) passes through actuating lever B (21) and links to each other with guide bar (10) of both sides respectively, drives both sides guide bar (10) open or are closed.
2. The guided recovery mechanism of the recyclable underwater robot as described in claim 1, further comprising: the other end of the clamping rod (11) is provided with a U-shaped groove B (26) for preventing the clamping tongue (13) from rotating outwards, the torsion spring (12) is contained in the U-shaped groove B (26), the two ends of the torsion spring are respectively abutted against the clamping tongue (13) and the groove bottom surface of the U-shaped groove B (26), and the clamping tongue (13) is limited through the groove bottom surface of the U-shaped groove B (26).
3. The guided recovery mechanism of the recyclable underwater robot as described in claim 1, further comprising: seted up bar hole A (27) on supporting rod (11), actuating lever A (5) are "L" shape, one end with the output of electric putter A (4) links to each other, and the other end inserts in bar hole A (27), through the flexible other end that drives actuating lever A (5) of electric putter A (4) output slides in bar hole A (27), and then drives supporting rod (11) open or are closed.
4. The guided recovery mechanism of the recyclable underwater robot as described in claim 1, further comprising: the one end and the backup pad of guide bar (10) are articulated, and the other end is colluded the form, has seted up bar hole B (28) on this guide bar (10), actuating lever B (21) are "L" shape, one end with the output of electric putter B (20) links to each other, and the other end inserts in bar hole B (28), through the flexible other end that drives actuating lever B (21) of electric putter B (20) output slides in bar hole B (28), and then drives guide bar (10) open or closed.
5. The guided recovery mechanism of the recyclable underwater robot as described in claim 1, further comprising: one end of the hoisting block (3) is installed on the shell, the other end of the hoisting block is provided with a U-shaped groove A (24), arc-shaped grooves (25) are formed in two sides of the U-shaped groove A (24) from bottom to top, and the bottoms of all sides of the U-shaped groove A (24) are in hook shapes.
6. The guided recovery mechanism of the recyclable underwater robot as described in claim 5, further comprising: the clamping tongue (13) driven by the clamping rod (11) is positioned below the hoisting block (3), and the clamping tongue (13) is closed under the action of the elasticity of the torsion spring (12) when not subjected to collision force, so that the U-shaped groove A (24) at the other end of the hoisting block (3) is in a closed state; the guide rod (10) is located above the lifting block (3).
7. The guided recovery mechanism of the recyclable underwater robot as described in claim 1, further comprising: the guide rods (10) are V-shaped, the guide rods (10) on the two sides are abutted to the outer surface of the underwater robot in a closed state, and extend to the front end of the underwater robot in an opened state to be V-shaped.
8. The guided recovery mechanism of the recyclable underwater robot as described in claim 1, further comprising: and the floating block (9) is provided with an opposite infrared detector (6).
9. The guided recovery mechanism of the recyclable underwater robot as described in claim 8, further comprising: the floating block (9) is divided into an upper floating block, a lower floating block, a left floating block and a right floating block, the supporting plate is divided into a supporting plate A (8) and a supporting plate B (22), the upper floating block is installed on the upper surface of the supporting plate B (22), the lower floating block is installed on the lower surface of the supporting plate A (8), and the upper floating block and the lower floating block are identical in shape and are in a streamline shape; left side floating block and right floating block install the left and right sides between backup pad A (8) and backup pad B (22), all install correlation infrared detector (6) on this left side floating block and the right floating block, two correlation infrared detector (6) symmetry sets up.
10. The guided recovery mechanism of the recyclable underwater robot as described in claim 1, further comprising: an acoustic guiding device (17) and a visual optical guiding device are respectively arranged on the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010606319.4A CN111717353A (en) | 2020-06-29 | 2020-06-29 | Guide type recycling mechanism capable of recycling underwater robot repeatedly |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010606319.4A CN111717353A (en) | 2020-06-29 | 2020-06-29 | Guide type recycling mechanism capable of recycling underwater robot repeatedly |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112332952A (en) * | 2020-10-09 | 2021-02-05 | 中国科学院沈阳自动化研究所 | Underwater acoustic communication method for underwater glider and submerged buoy |
| CN112591042A (en) * | 2020-12-15 | 2021-04-02 | 哈尔滨工程大学 | A take cable hard lever to catch and connecting device for underwater robot |
| CN113581376A (en) * | 2021-08-09 | 2021-11-02 | 浙江海洋大学 | Buoy recovery device and using method thereof |
-
2020
- 2020-06-29 CN CN202010606319.4A patent/CN111717353A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112332952A (en) * | 2020-10-09 | 2021-02-05 | 中国科学院沈阳自动化研究所 | Underwater acoustic communication method for underwater glider and submerged buoy |
| CN112591042A (en) * | 2020-12-15 | 2021-04-02 | 哈尔滨工程大学 | A take cable hard lever to catch and connecting device for underwater robot |
| CN112591042B (en) * | 2020-12-15 | 2021-10-01 | 哈尔滨工程大学 | A take cable hard lever to catch and connecting device for underwater robot |
| CN113581376A (en) * | 2021-08-09 | 2021-11-02 | 浙江海洋大学 | Buoy recovery device and using method thereof |
| CN113581376B (en) * | 2021-08-09 | 2022-12-23 | 浙江海洋大学 | Buoy recovery device and using method thereof |
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