CN112278197A - Saddle type capturing device and capturing method of ocean engineering underwater vehicle - Google Patents
Saddle type capturing device and capturing method of ocean engineering underwater vehicle Download PDFInfo
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- CN112278197A CN112278197A CN202011139193.0A CN202011139193A CN112278197A CN 112278197 A CN112278197 A CN 112278197A CN 202011139193 A CN202011139193 A CN 202011139193A CN 112278197 A CN112278197 A CN 112278197A
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- chassis
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- mushroom head
- capturing device
- positioning arm
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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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
- B63C7/20—Apparatus engaging vessels or objects using grabs
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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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/02—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects in which the lifting is done by hauling
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a saddle type capturing device and a capturing method of an ocean engineering underwater vehicle, comprising a chassis floating above an autonomous vehicle, wherein a plurality of buoys for providing buoyancy are symmetrically arranged at two sides of the chassis; the chassis which is positioned on the same side with the buoy is also rotatably provided with a positioning arm assembly, the positioning arm assemblies on two sides are clamped on the surface of the autonomous aircraft, the chassis is provided with a hydraulic driving assembly for driving the positioning arm assembly to rotate, the center of the chassis is provided with a capturing port, the chassis on one side of the capturing port is provided with a lead screw driving assembly, and the other side of the capturing port is provided with a track pressing plate in parallel; clamping openings are formed in the opposite sides of the two mushroom head clamping plates, and the two mushroom head clamping plates are distributed above the capturing openings in a staggered mode in the vertical direction and move synchronously in opposite directions or in reverse directions. The device creatively utilizes the saddle principle to ensure that the device avoids the influence of the fluctuation and the swing of the mother ship under the action of sea conditions on the capturing device after the buoy is spanned and erected on the autonomous aircraft.
Description
Technical Field
The invention relates to the technical field of ocean engineering, in particular to a saddle type capturing device and a capturing method of an ocean engineering underwater vehicle.
Background
With the increasing exploration of human beings on ocean resources, underwater robots, such as underwater vehicles, Autonomous Underwater Vehicles (AUV), underwater gliders, and the like, are in operation. The device has the characteristics of no cable, wide operation range, high degree of freedom, capability of complex environment exploration and the like. When the underwater robot needs to be subjected to energy supplement, information reading or water surface fishing and the like during working, the underwater robot needs to be captured firstly.
At present, a point-to-point capturing principle is generally used by a capturing device, the capturing efficiency is low, and the failure rate is high. Therefore, a saddle type capturing device and a capturing method of an ocean engineering underwater vehicle are provided for solving the problems.
Disclosure of Invention
The invention aims to provide a saddle type capturing device and a capturing method of an ocean engineering underwater vehicle, and aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a saddle type capturing device of an ocean engineering underwater vehicle comprises a chassis floating above an autonomous vehicle, wherein a mushroom head structure used for connecting the capturing device is arranged on the autonomous vehicle,
a plurality of buoys for providing buoyancy are symmetrically arranged on two sides of the chassis;
the chassis which is positioned at the same side with the buoy is also rotatably provided with a positioning arm assembly, the positioning arm assemblies at two sides are clamped on the surface of the autonomous aircraft, the positioning arm assembly consists of a rotating shaft and two symmetrical positioning arms which are fixedly arranged at two ends of the rotating shaft, and the rotating shaft is rotatably arranged at the side edge of the chassis;
the chassis is provided with hydraulic driving assemblies for driving the positioning arm assemblies to rotate, and the hydraulic driving assemblies correspond to the positioning arm assemblies one by one;
a capturing port is formed in the center of the base plate, a screw rod driving assembly is mounted on the base plate on one side of the capturing port, and a track pressing plate is mounted on the other side of the capturing port in parallel;
the lead screw driving assembly comprises a rotatable bidirectional lead screw, and a left-handed transmission screw nut and a right-handed transmission screw nut which are sleeved at two ends of the bidirectional lead screw, the left-handed transmission screw nut and the right-handed transmission screw nut are respectively and fixedly connected with a mushroom head clamping plate, and the other sides of the two mushroom head clamping plates are simultaneously clamped in the track pressing plate in a sliding manner;
clamping openings are formed in the opposite sides of the two mushroom head clamping plates, and the two mushroom head clamping plates are distributed above the capturing openings in a staggered mode in the vertical direction and move synchronously in opposite directions or in reverse directions.
Preferably, a vertically and upwardly extending mounting bracket is fixedly mounted at the top of the chassis, and a camera is mounted on the mounting bracket.
Preferably, the four corners of the chassis are provided with lug plates extending outwards, at least one buoy is fixedly mounted between the two lug plates on the same side edge, the axis of the buoy is parallel to the length direction of the captured autonomous vehicle, and the upper ends of the four lug plates are provided with lifting holes for the steel wire rope to pass through.
Preferably, the positioning arm is of an arc-shaped or V-shaped holding tile type structure and is in sliding contact with the surface of the autonomous aircraft, and a limiting groove matched with the autonomous aircraft is formed in the bottom of the chassis.
Preferably, the hydraulic drive subassembly is including installing the two-way pneumatic cylinder at chassis top and the rack of rigid coupling at the two-way pneumatic cylinder drive end, the axis of rack is parallel with the flexible direction of two-way pneumatic cylinder, and rack perpendicular to pivot, fixed cup joint one in the pivot with rack toothing's gear, still a top fixed mounting activity cup joints in the rack outside on the chassis, and restricts its direction of motion's guide rail.
Preferably, the screw driving assembly further comprises a screw mounting bracket for mounting a bidirectional screw, and one end of the bidirectional screw is fixedly connected with a hydraulic motor driving shaft mounted on the chassis.
Preferably, a straight notch is formed in the inner side of the track pressing plate along the length direction of the track pressing plate, and the end part of the mushroom head clamping plate is clamped in the straight notch in a sliding mode.
Preferably, the opening angle of clamping mouth is 90 degrees, the first support column and the chassis fixed connection of mushroom head structure through four pyramid, when the first joint of mushroom head was between two mushroom head clamp plates, the edge contact of clamping mouth and support column.
A saddle type capturing method of an ocean engineering underwater vehicle adopts the capturing device, and specifically comprises the following steps:
s1: the capture device is hoisted above the autonomous aircraft by hoisting equipment on the mother ship through four steel wire ropes, and personnel on the mother ship can operate conveniently through a camera in the process;
s2: two-way hydraulic cylinders in the two hydraulic driving assemblies extend out, and the gear is driven by the rack to rotate, so that the positioning arm assemblies on two sides of the chassis are opened and folded towards the lower part of the chassis, the autonomous vehicle is gradually shifted to the position right below the chassis, and the radial center of the autonomous vehicle is basically aligned with the axis of the chassis;
s3: the capturing device is continuously lowered through the hoisting equipment, so that the steel wire rope is in a loose state, the bottom plate is just floated on the top of the autonomous aircraft through the buoys on the two sides, the autonomous aircraft is just positioned in the limiting groove at the bottom of the bottom plate after the autonomous aircraft is completely clamped by the positioning arm assembly, and the mushroom head structure penetrates out of the capturing port and extends upwards;
s4: the bidirectional screw rod is driven to rotate by the hydraulic motor, the left-handed transmission screw nut and the right-handed transmission screw nut are driven to move oppositely on the bidirectional screw rod, so that the two mushroom head clamping plates are driven to be close to each other, the positions of the two mushroom head clamping plates are staggered up and down, clamping ports in the two mushroom head clamping plates are clamped on supporting columns at the bottoms of the mushroom head structures, and the capture device and the autonomous navigation device are completely positioned;
s5: and hoisting the capturing device and the autonomous aircraft by the hoisting equipment on the mother ship to complete capturing.
Compared with the prior art, the invention has the beneficial effects that:
the device creatively utilizes the saddle principle to ensure that the device continues to lower the steel wire rope after the buoy crosses and erects the autonomous aircraft, thereby avoiding the influence of the fluctuation and the swing of the mother ship under the action of sea conditions on the capturing device;
the device and the autonomous aircraft are similar to a whole by utilizing the saddle principle, so that the device can obtain high success rate for capturing mushroom heads on the sea;
the success rate and the working efficiency of the butt joint of the device and the mushroom head structure can be increased by utilizing the opening control between the rotatable positioning arms. Meanwhile, the positioning arm can be rotated upwards and folded, so that the size of the device is reduced, and the occupation of the space of a mother ship is reduced;
by the design of the quadrangular pyramid-shaped support columns at the bottoms of the mushroom head structures, the autonomous aircraft cannot rotate after being captured, and accidents caused by incomplete positioning when the autonomous aircraft is lifted are avoided;
when the autonomous aircraft and the device are locked by the mushroom head due to the influence of the bevel angle on the sea surface, the mushroom head structure can be centered by the mushroom head clamping plate through the bevel angle design above the rectangular pyramid-shaped neck of the mushroom head;
the hydraulic power source that this device adopted, self just has the leakproofness, adaptation marine environment that can be fine. In order to deal with the marine environment, the device avoids using a complex and precise mechanical structure, so that the service life of the device can be prolonged as much as possible while the purchase and use cost and the failure rate of the device are greatly reduced.
Drawings
FIG. 1 is a schematic diagram of a captured structure of a capturing device and an autonomous vehicle according to the present invention;
FIG. 2 is a schematic diagram of a capturing device and an autonomous vehicle according to the present invention before capturing;
FIG. 3 is a schematic view of a positioning assembly of the present invention;
FIG. 4 is a schematic perspective view of the capturing device of the present invention when folded;
FIG. 5 is a front view of the capture device of the present invention when folded;
FIG. 6 is a side view of the capture device of the present invention when folded;
FIG. 7 is a top view of the capture device of the present invention when folded;
FIG. 8 is a cross-sectional view taken at A-A of FIG. 7 in accordance with the present invention;
FIG. 9 is a cross-sectional view taken at B-B of FIG. 7 in accordance with the present invention;
fig. 10 is a cross-sectional view taken at C-C of fig. 7 in accordance with the present invention.
In the figure: 1 autonomous aircraft, 101 mushroom head structures, 102 supporting columns, 2 chassis, 201 capturing ports, 202 limiting grooves, 203 lug plates, 204 lifting holes, 205 mounting brackets, 3 buoys, 4 positioning assemblies, 41 positioning arms, 42 rotating shafts, 5 hydraulic driving assemblies, 51 bidirectional hydraulic cylinders, 52 racks, 53 guide rails, 54 gears, 6 mushroom head clamping plates, 601 clamping ports, 7 lead screw driving assemblies, 71 lead screw mounting frames, 72 bidirectional lead screws, 73 left-handed transmission screw nuts, 74 right-handed transmission screw nuts, 75 hydraulic motors and 8 orbital pressing plates.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution: a saddle type capturing device of an ocean engineering underwater vehicle comprises a chassis 2 floating above an autonomous vehicle 1, wherein a mushroom head structure 101 used for connecting the capturing device is arranged on the autonomous vehicle 1, a vertically and upwardly extending mounting bracket 205 is fixedly mounted at the top of the chassis 2, and a camera used for providing images for operators in real time during capturing is mounted on the mounting bracket 205.
All outwards extend in the four corners position of chassis 2 and be provided with otic placode 203, and fixed mounting has at least one flotation pontoon 3 between two otic placodes 203 that are located same side, and the axis of flotation pontoon 3 is parallel with the autonomous vehicle 1 length direction after catching, and the lewis hole 204 that is used for wire rope to pass is all seted up to the upper end of four otic placodes 203.
Referring to fig. 1-3, the chassis 2 on the same side as the buoy 3 is further rotatably mounted with a positioning arm assembly 4, the positioning arm assemblies 4 on both sides are clamped on the surface of the autonomous aircraft 1, the positioning arm assembly 4 is composed of a rotating shaft 42 and two positioning arms 41 which are symmetrically and fixedly mounted on both ends of the rotating shaft 42, and the rotating shaft 42 is rotatably mounted on the side of the chassis 2.
Furthermore, the positioning arm 41 is in an arc-shaped or V-shaped tile-embracing type structure and is in sliding contact with the surface of the autonomous aircraft 1, wherein the tile-embracing type structure is convenient for shifting the autonomous aircraft 1 to a position right below the chassis 2, and the bottom of the chassis 2 is provided with a limiting groove 202 matched with the autonomous aircraft 1, so that the stability of the captured autonomous aircraft is ensured.
Referring to fig. 1-4, a hydraulic driving assembly 5 for driving the positioning arm assembly 41 to rotate is mounted on the chassis 2, and the hydraulic driving assemblies 5 correspond to the positioning arm assemblies 41 one by one.
The hydraulic driving assembly 5 comprises a bidirectional hydraulic cylinder 51 mounted on the top of the chassis 2 and a rack 52 fixedly connected to a driving end of the bidirectional hydraulic cylinder 51, an axis of the rack 52 is parallel to a telescopic direction of the bidirectional hydraulic cylinder 51, the rack 52 is perpendicular to the rotating shaft 42, the rotating shaft 42 is fixedly sleeved with a gear 54 engaged with the rack 52, and the top of the chassis 2 is also fixedly mounted with a guide rail 53 movably sleeved on the outer side of the rack 52 and limiting a movement direction thereof.
A capture opening 201 is formed in the center of the chassis 2, a lead screw driving assembly 7 is installed on the chassis 2 on one side of the capture opening 201, a track pressing plate 8 is installed on the other side of the chassis 2 in parallel, a straight groove opening is formed in the inner side of the track pressing plate 8 along the length direction of the track pressing plate, and the end portion of the mushroom head clamping plate 6 is slidably clamped in the straight groove opening.
Referring to fig. 1-4 and fig. 10, the screw driving assembly 7 includes a rotatable bidirectional screw 72, a screw mounting bracket 71 for mounting the bidirectional screw 72, and a left-handed transmission screw 73 and a right-handed transmission screw 74 sleeved at two ends of the bidirectional screw 72, wherein one end of the bidirectional screw 72 is fixedly connected to a driving shaft of a hydraulic motor 75 mounted on the chassis 2, the left-handed transmission screw 73 and the right-handed transmission screw 74 are respectively and fixedly connected to a mushroom head clamping plate 6, and the other sides of the two mushroom head clamping plates 6 are simultaneously and slidably clamped in the rail pressing plate 8;
The opening angle of clamping mouth 601 is 90 degrees, and mushroom head structure 101 is through four pyramid's support column 102 and chassis 2 fixed connection, and when mushroom head structure 101 joint was between two mushroom head clamp plates 6, the edge contact of clamping mouth 601 and support column 102.
Referring to fig. 1, the capturing device of the present invention is used as follows:
s1: the capture device is hoisted above the autonomous aircraft 1 by hoisting equipment on the mother ship through four steel wire ropes, and personnel on the mother ship can operate conveniently through a camera in the process;
s2: the two-way hydraulic cylinders 51 in the two hydraulic drive assemblies 5 extend out, and the gear 54 is driven to rotate through the rack 52, so that the positioning arm assemblies 5 on the two sides of the chassis 2 are opened and folded towards the lower part of the chassis 2, the autonomous aircraft 1 is gradually shifted to the position right below the chassis 2, and the radial center of the autonomous aircraft 1 is basically aligned with the axis of the chassis 2;
s3: the capturing device is continuously lowered through the hoisting equipment, so that the steel wire rope is in a loose state, the bottom plate 2 is just floated on the top of the autonomous aircraft 1 through the buoys 3 on the two sides, after the autonomous aircraft 1 is completely clamped by the positioning arm assembly 5, the autonomous aircraft 1 is just positioned in the limiting groove 202 at the bottom of the bottom plate 2, and at the moment, the mushroom head structure 101 penetrates out of the capturing port 201 and extends upwards;
s4: the bidirectional screw 72 is driven to rotate by the hydraulic motor 75, the left-handed transmission screw 73 and the right-handed transmission screw 74 are driven to move oppositely on the bidirectional screw 72, so that the two mushroom head clamping plates 6 are driven to approach, the positions of the two mushroom head clamping plates 6 are staggered up and down, clamping ports 601 on the two mushroom head clamping plates 6 are clamped on supporting columns 102 at the bottoms of mushroom head structures 101, and the complete positioning of the capturing device and the autonomous aircraft 1 is realized;
s5: and hoisting the capturing device and the autonomous aircraft 1 by the hoisting equipment on the mother ship to complete capturing.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A saddle type capturing device of an ocean engineering underwater vehicle comprises an underpan (2) floating above an autonomous vehicle (1), wherein a mushroom head structure (101) used for connecting the capturing device is arranged on the autonomous vehicle (1), and the capturing device is characterized in that:
a plurality of buoys (3) for providing buoyancy are symmetrically arranged on two sides of the chassis (2);
the chassis (2) which is positioned on the same side with the buoy (3) is also rotatably provided with a positioning arm assembly (4), the positioning arm assemblies (4) on two sides are clamped on the surface of the autonomous navigation device (1), the positioning arm assembly (4) consists of a rotating shaft (42) and two positioning arms (41) which are symmetrical and fixedly arranged at two ends of the rotating shaft (42), and the rotating shaft (42) is rotatably arranged on the side edge of the chassis (2);
the chassis (2) is provided with hydraulic driving assemblies (5) for driving the positioning arm assemblies (41) to rotate, and the hydraulic driving assemblies (5) correspond to the positioning arm assemblies (41) one by one;
a capturing opening (201) is formed in the center of the chassis (2), a lead screw driving assembly (7) is installed on the chassis (2) on one side of the capturing opening (201), and a track pressing plate (8) is installed on the other side of the capturing opening in parallel;
the lead screw driving assembly (7) comprises a rotatable bidirectional lead screw (72), and a left-handed transmission screw nut (73) and a right-handed transmission screw nut (74) which are sleeved at two ends of the bidirectional lead screw (72), wherein the left-handed transmission screw nut (73) and the right-handed transmission screw nut (74) are respectively and fixedly connected with a mushroom head clamping plate (6), and the other sides of the two mushroom head clamping plates (6) are simultaneously clamped in the track pressing plate (8) in a sliding manner;
clamping openings (601) are formed in the opposite sides of the two mushroom head clamping plates (6), and the two mushroom head clamping plates (6) are distributed above the capturing opening (201) in a staggered mode in the vertical direction and move synchronously in the opposite direction or in the reverse direction.
2. The capturing device of claim 1, wherein: a vertically and upwardly extending mounting bracket (205) is fixedly mounted at the top of the chassis (2), and a camera is mounted on the mounting bracket (205).
3. The capturing device of claim 1, wherein: the four corners position of chassis (2) all outwards extends and is provided with otic placode (203), and fixed mounting has at least one between two otic placodes (203) that are located same side buoy (3), the axis of buoy (3) is parallel with autonomous vehicle (1) length direction after catching, four lifting eyes (204) that are used for wire rope to pass are all seted up to the upper end of otic placode (203).
4. The capturing device of claim 1, wherein: the positioning arm (41) is of an arc-shaped or V-shaped holding tile type structure and is in sliding contact with the surface of the autonomous aircraft (1), and a limiting groove (202) matched with the autonomous aircraft (1) is formed in the bottom of the chassis (2).
5. The capturing device of claim 1, wherein: hydraulic drive subassembly (5) are including installing two-way pneumatic cylinder (51) at chassis (2) top and rack (52) of rigid coupling at two-way pneumatic cylinder (51) drive end, the axis of rack (52) is parallel with the flexible direction of two-way pneumatic cylinder (51), and rack (52) perpendicular to pivot (42), fixed cup joint one gear (54) with rack (52) meshing on pivot (42), still a movable guide rail (53) of cup jointing in rack (52) outside, just restricting its direction of motion are gone up to top fixed mounting on chassis (2).
6. The capturing device of claim 1, wherein: the screw rod driving assembly (7) further comprises a screw rod mounting frame (71) used for mounting a bidirectional screw rod (72), and one end of the bidirectional screw rod (72) is fixedly connected with a driving shaft of a hydraulic motor (75) mounted on the chassis (2).
7. The capturing device of claim 1, wherein: the inner side of the track pressing plate (8) is provided with a straight notch along the length direction, and the end part of the mushroom head clamping plate (6) is clamped in the straight notch in a sliding mode.
8. The capturing device of claim 1, wherein: the opening angle of clamping mouth (601) is 90 degrees, mushroom head structure (101) through four pyramid's support column (102) and chassis (2) fixed connection, when mushroom head structure (101) joint was between two mushroom head clamp plates (6), the edge contact of clamping mouth (601) and support column (102).
9. A saddle type capturing method of an ocean engineering underwater vehicle is characterized in that the capturing device of claims 1-8 is adopted, and the method specifically comprises the following steps:
s1: the capture device is hoisted above the autonomous aircraft (1) by hoisting equipment on the mother ship through four steel wire ropes, and personnel on the mother ship can operate conveniently through a camera in the process;
s2: two-way hydraulic cylinders (51) in the two hydraulic driving assemblies (5) extend out, and a gear (54) is driven to rotate through a rack (52), so that the positioning arm assemblies (5) on two sides of the chassis (2) are opened and folded towards the lower part of the chassis (2), the autonomous aircraft (1) is gradually shifted to be right below the chassis (2), and the radial center of the autonomous aircraft (1) is basically aligned with the axis of the chassis (2);
s3: the capturing device is continuously lowered through the hoisting equipment, so that the steel wire rope is in a loose state, the bottom plate (2) is just floated on the top of the autonomous aircraft (1) through the buoys (3) on the two sides, after the autonomous aircraft (1) is completely clamped by the positioning arm assembly (5), the autonomous aircraft (1) is just positioned in the limiting groove (202) in the bottom of the bottom plate (2), and at the moment, the mushroom head structure (101) penetrates out of the capturing port (201) and extends upwards;
s4: the bidirectional screw rod (72) is driven to rotate by the hydraulic motor (75), the left-handed transmission screw nut (73) and the right-handed transmission screw nut (74) are driven to move oppositely on the bidirectional screw rod (72), so that the two mushroom head clamping plates (6) are driven to approach, the positions of the two mushroom head clamping plates (6) are staggered up and down, clamping ports (601) on the two mushroom head clamping plates (6) are clamped on a supporting column (102) at the bottom of a mushroom head structure (101), and the complete positioning of the capturing device and an autonomous aircraft (1) is realized;
s5: and hoisting the capturing device and the autonomous aircraft (1) by the hoisting equipment on the mother ship, and completing capturing.
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| CN202011139193.0A CN112278197A (en) | 2020-10-22 | 2020-10-22 | Saddle type capturing device and capturing method of ocean engineering underwater vehicle |
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| CN202011139193.0A CN112278197A (en) | 2020-10-22 | 2020-10-22 | Saddle type capturing device and capturing method of ocean engineering underwater vehicle |
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| US11485461B2 (en) * | 2021-03-15 | 2022-11-01 | Tridentis Advanced Marine Vehicles, LLC | Device and method for launching and recovering an unmanned underwater vehicle |
| CN113306687A (en) * | 2021-06-11 | 2021-08-27 | 哈尔滨工业大学 | Cloth recycling device for unmanned underwater vehicle |
| CN113306687B (en) * | 2021-06-11 | 2024-02-20 | 哈尔滨工业大学 | Cloth-placing and recycling device for unmanned underwater vehicle |
| CN113879493A (en) * | 2021-11-23 | 2022-01-04 | 广东海洋大学 | Underwater vehicle salvage mechanical claw |
| CN114919716A (en) * | 2022-05-16 | 2022-08-19 | 青岛海洋科学与技术国家实验室发展中心 | A butt joint system of hugging for retrieving glider under water |
| CN114919716B (en) * | 2022-05-16 | 2024-05-07 | 青岛海洋科学与技术国家实验室发展中心 | Butt-joint enclasping system for recovering underwater glider |
| CN115180097A (en) * | 2022-07-25 | 2022-10-14 | 西南科技大学 | Capturing device of underwater unmanned vehicle |
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