CN112660341A - Underwater axial release device with built-in load - Google Patents
Underwater axial release device with built-in load Download PDFInfo
- Publication number
- CN112660341A CN112660341A CN202011450163.1A CN202011450163A CN112660341A CN 112660341 A CN112660341 A CN 112660341A CN 202011450163 A CN202011450163 A CN 202011450163A CN 112660341 A CN112660341 A CN 112660341A
- Authority
- CN
- China
- Prior art keywords
- fixed
- load
- cabin door
- driving
- rotating shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention relates to an underwater axial release device with a built-in load, belonging to the field of load release of an underwater glider; the device comprises a frame structure, a door opening mechanism and a driving mechanism, wherein the frame structure is used as a section of the NACA airfoil profile in the extending direction; the door opening mechanism comprises a cabin door, a hinge mechanism and a rotating motor, and the hinge mechanism is controlled by the rotating motor to realize the opening and closing of the cabin door; the driving mechanism comprises a control system, a displacement motor, a lead screw, a threaded sleeve, a driving slide block, a sliding groove and a fixed clamping ring; the control system is used for controlling the on-off of the driving slide block; when the first Hall sensor senses the first sensing piece, the control system judges that the movable cabin door is opened to a specified position, the rotating motor stops, the displacement motor starts, the driving screw drives the two driving sliding blocks to move towards the direction far away from the displacement motor, when the second Hall sensor senses the second sensing piece, the control system judges that the load moves to the specified position, the driving sliding blocks are controlled to be electrified and demagnetized, namely, the adsorption force of the driving sliding blocks and the fixed clamping ring disappears, and the load is released.
Description
Technical Field
The invention belongs to the field of load release of underwater gliders, and particularly relates to an underwater axial release device with a built-in load.
Background
The ocean is a space for human survival and development, is a strategic development base of energy, biological resources and metal resources, and is related to human survival and development. Because of the shortages of some resources due to their willful exploitation, more and more countries are turning their focus to ocean spaces that contain abundant energy and resources. At present, ocean investigation of seabed and aquatic organism mineral resource investigation is actively carried out in all countries, and due to the severe ocean environment, autonomous unmanned exploration equipment is necessary for ocean investigation.
The glider is a novel underwater robot, it accomplishes to glide under water through adjusting self buoyancy, has advantages such as the distance of gliding is far away, the low power dissipation, utilizes these advantages, and the glider can carry on the detection device and put in to appointed region, carries out fixed point information acquisition, retrieves after accomplishing the task again. Because of the complicated variety of marine environment, interference factor is more, and in order not to influence the gliding gesture of glider, need a reliable and stable built-in load release under water. However, the existing built-in load underwater release device cannot meet the reliability and stability of release, and an externally hung load carrying and releasing mode is mostly adopted, and if the mode is directly applied to a glider, the gliding performance of the glider is obviously influenced.
Through literature retrieval, a paper with the date of 2019, 1 month and the name of combined control of load release and heave movement of an underwater autonomous platform is published, wherein the third chapter has 34-36 pages, and a detachable load pushing mechanism based on hydraulic system control is provided. The push-out mechanism carries the load to be vertically released from the height which is basically the same as that of the platform, the load can collide with the platform due to water flow disturbance after the load is released, and the separation mode of the load and the main body is not safe and reliable enough.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides an underwater axial release device with a built-in load, wherein a part of an underwater glider wing is used as a frame of the release device, a door opening mechanism and a driving mechanism are arranged on the frame, a movable cabin door of the frame structure is controlled to be opened through the door opening mechanism, and then the release mechanism realizes the axial release of the load.
The technical scheme of the invention is as follows: the utility model provides a built-in load is axial release under water which characterized in that: the device comprises a frame structure, a door opening mechanism and a driving mechanism, wherein the frame structure is used as a section of the NACA airfoil profile in the extending direction;
the frame structure comprises two panels which are arranged in parallel relatively, and the two panels are connected into an integral structure through a plurality of reinforcing ribs arranged along the edges of the panels; the two panels are perpendicular to the extending direction of the NACA airfoil profile, and the outer end surfaces of the two panels are fixedly connected with the glider body;
the door opening mechanism comprises a cabin door, a hinge mechanism, a rotating motor, a first Hall sensor, a first sensor mounting frame and a first sensing piece; the cabin door is positioned between two panels of the frame structure, is used as a load release outlet and comprises a fixed cabin door and a movable cabin door, the fixed cabin door is fixed at the outer edge of the inner end surface of the first panel, and the movable cabin door is hinged with the fixed cabin door through a hinge mechanism; the rotating motor is fixed on the outer end face of the first panel, an output shaft of the rotating motor is connected with a hinged shaft of the hinged mechanism through a transmission mechanism, and the opening and closing of the movable cabin door are realized by driving the hinged shaft to rotate; the first Hall sensor is fixed on the outer side wall of the fixed cabin door, and the first sensing piece is fixed on the hinge mechanism;
the driving mechanism comprises a control system, a displacement motor, a screw rod, a threaded sleeve, a driving sliding block, a sliding groove, a second Hall sensor, a second induction sheet and a fixed clamping ring, the driving sliding block is an electromagnet, and the sliding groove is fixed on the inner side surface of the movable cabin door and is parallel to the hinged shaft; two ends of the screw rod are arranged in the sliding chute through a support, and the two driving sliding blocks are arranged on the screw rod through thread fit; an output shaft of the displacement motor is connected with a lead screw, and the two driving slide blocks are driven to axially displace by driving the lead screw to rotate; the outer ring surface of the fixed snap ring is provided with counter bores for placing the electromagnets, 2 fixed snap rings are uniformly distributed on the outer peripheral surface of the load along the axial direction of the load, and the driving slide blocks and the counter bores of the fixed snap rings are arranged in a one-to-one correspondence manner and can be mutually adsorbed; the second Hall sensor is arranged in the middle of the sliding groove, and the second induction sheet is fixed on a fixed snap ring close to one end of the displacement motor; the control system is used for controlling the on-off of the driving slide block; when the first Hall sensor senses the first sensing piece, the control system judges that the movable cabin door is opened to a specified position, the rotating motor stops, the displacement motor starts to rotate, the driving screw rod drives the two driving sliding blocks to move axially in the direction away from the displacement motor, when the second Hall sensor senses the second sensing piece, the control system judges that the load moves to the specified position, and meanwhile, the driving sliding blocks are controlled to be electrified and demagnetized, namely, the adsorption force of the driving sliding blocks and the fixed clamping ring disappears, and the load is released.
The further technical scheme of the invention is as follows: the frame structure comprises 5 reinforcing ribs which are uniformly distributed on the same side of the frame structure, and the other side of the frame structure is used for installing a door opening mechanism.
The further technical scheme of the invention is as follows: the movable cabin door is provided with a plurality of bosses for installing the electromagnets.
The further technical scheme of the invention is as follows: the hinge mechanism comprises a rotating shaft support, a rotating shaft connecting frame, a suspension beam and a transmission shaft, and the transmission shaft is arranged on the inner side surface of the fixed cabin door through a plurality of rotating shaft supports and is used as a hinge shaft; the rotating shaft connecting frame is of an asymmetric U-shaped structure, one side of the rotating shaft connecting frame is a short supporting arm, and the other side of the rotating shaft connecting frame is a long supporting arm; the 3 rotating shaft connecting frames are arranged in parallel, wherein the short support arm end heads of the first rotating shaft connecting frame and the second rotating shaft connecting frame are provided with through holes and fixedly connected with the transmission shaft through keys, and the long support arm end head is fixed on the movable cabin door; the end head of a short supporting arm of the third rotating shaft connecting frame is hinged on the fixed cabin door through a shaft and a support, the end head of a long supporting arm is fixed on the movable cabin door, and the shaft is coaxial with the transmission shaft; the suspension beam is vertically fixed on the long support arm of the 3 rotating shaft connecting frames, and the 3 rotating shaft connecting frames are connected into a whole, so that the synchronous rotation of the 3 rotating shaft connecting frames is realized.
The further technical scheme of the invention is as follows: the transmission mechanism comprises a synchronous belt and a synchronous belt wheel, the synchronous belt wheel is coaxially fixed on the transmission shaft, the synchronous belt is sleeved on an output shaft of the rotating motor and the synchronous belt wheel, the rotating motor drives the synchronous belt to rotate, and then the synchronous belt wheel and the transmission shaft are driven to rotate.
The further technical scheme of the invention is as follows: the synchronous pulley limits the axial displacement thereof through a shaft end retainer ring.
The further technical scheme of the invention is as follows: the transmission shaft is in clearance fit with the rotating shaft support, and the axial displacement of the transmission shaft is limited by the shaft end retainer ring.
The further technical scheme of the invention is as follows: the rotating motor and the control system both adopt waterproof sealing structures.
The further technical scheme of the invention is as follows: the displacement motor and the screw rod are driven by two cylindrical gears which are meshed with each other, the first cylindrical gear is coaxially arranged on an output shaft of the motor, the second cylindrical gear is coaxially arranged at the end of the screw rod, and the first cylindrical gear and the second cylindrical gear are sequentially driven by the displacement motor so as to drive the screw rod to rotate.
Advantageous effects
The invention has the beneficial effects that:
1. the whole device is one part of a glider wing, and the designed structure is one part of a glider structure, so that the gliding resistance of the glider cannot be additionally increased.
2. The motor drives the door opening mechanism, the opening and closing speed can be adjusted according to actual requirements, the load release speed is low, and the disturbance to the glider is small.
3. The mounting mechanism has the advantages of simple and compact structure, small occupied space and safe and reliable release mode.
Drawings
FIG. 1 is a perspective view of the overall structure of an underwater axial releasing device with a built-in load according to the present invention;
FIG. 2 is a perspective view of the frame structure of the present invention;
FIG. 3 is a schematic perspective view of the door opening mechanism of the present invention;
FIG. 4 is a first perspective view of the driving mechanism of the present invention;
FIG. 5 is a second perspective view of the driving mechanism of the present invention;
FIG. 6 is a three-dimensional schematic view of the driving mechanism of the present invention
FIG. 7 is a schematic diagram of the motion state of an underwater axial releasing device with a built-in load according to the present invention;
description of reference numerals: 1. frame construction, 2, door opening mechanism, 3, driving mechanism, 4, panel, 5, panel, 6, 7, 8, 9, 10, 11, reinforcing rib, 12, fixed hatch door, 13, movable hatch door, 14, rotating shaft support, 15, rotating shaft support, 16, rotating shaft support, 17, rotating motor, 18, synchronous belt, 19, synchronous pulley, 20, first hall sensor, 22, rotating shaft link, 23, rotating shaft link, 24, rotating shaft link, 25, transmission shaft, 26, suspension beam, 27, first induction sheet, 28, rotating shaft support, 29, second hall sensor, 30, second induction sheet, 31, fixed snap ring, 32, fixed snap ring, 33, load, 34, displacement motor, 35, lead screw, 36, swivel nut, 37, driving slider, 38, swivel nut, 39, driving slider, 40, chute.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1-7, the underwater axial release device for the built-in load comprises a frame structure 1, a door opening mechanism 2 and a driving mechanism 3, and the underwater axial release of the built-in load is completed through the cooperative action of all the parts.
As shown in fig. 2, the frame structure at least comprises a panel 4, a panel 5 and reinforcing ribs 6, 7, 8, 9, 10 and 11, the panel 4, the panel 5 and the reinforcing ribs 6, 7, 8, 9, 10 and 11 are integrated, the panel 4 is provided with three mounting holes, the panel 5 is provided with four mounting holes for being fixedly connected with a glider main body, and the frame structure is in a part of a NACA wing shape, so that the structure has the advantages of reliability and stability of the opening door.
As shown in fig. 3 and 4, the door opening mechanism 2 includes a fixed door 12, a movable door 13, a rotating shaft support 14, 15, 16, 28, a rotating motor 17, a rotating shaft connecting frame 22, 23, 24 and a hall sensor 20, the fixed door 12 is fixedly connected with the panel 4 of the frame structure, the rotating shaft support 14, 15, 16, 28 is fixedly connected with the panel 4 and has a through hole, the rotating motor 17 is fixedly connected with the panel 4, the rotating motor drives a synchronous pulley 19 to rotate through a synchronous belt 18, the synchronous pulley 19 drives a transmission shaft 25 to rotate in the same direction, the synchronous pulley 19 has a through hole and a key slot, is in clearance fit with the transmission shaft 25 and is in key connection with the synchronous pulley 19 through a shaft end retaining ring for axial limiting, the transmission shaft 25 is in clearance fit with the rotating shaft support 14, 15, 28 and is in clearance fit through a shaft end retaining ring for axial limiting, and the rotating shaft connecting frame, One end of the rotating shaft connecting frame 24 is provided with a through hole, is in clearance fit with the transmission shaft 25 and is connected with the movable cabin door 13 through a key, the other end of the rotating shaft connecting frame 24 is fixedly connected with the movable cabin door 13 through a through hole and is connected with the rotating shaft support 16 through a shaft, the rotating shaft connecting frame 24 is attached with an induction sheet 27, the Hall sensor 20 is fixedly connected with the fixed cabin door 12 and can sense the induction sheet 27, and the rotating shaft connecting frames 22, 23 and 24 are fixedly connected with the suspension beam 26 to realize the synchronous rotation of the rotating shaft connecting frames 22, 23 and 24; the door opening mechanism 2 can realize the rotation of the rotating motor 18, and the movable cabin door 13 is driven to rotate through the synchronous belt 18, the synchronous belt pulley 19, the transmission shaft 25 and the rotating shaft connecting frames 22, 23 and 24, so that the movable cabin door 13 is opened and closed.
As shown in fig. 5 and 6, the driving mechanism 3 includes a displacement motor 34, a lead screw 35, threaded sleeves 36, 38, driving sliders 37, 39, a load 33 and a sliding slot 40, the displacement motor 34 drives the lead screw 35 to rotate through gear transmission, the threaded sleeves 36, 38 are matched with the lead screw 35, the driving sliders 37, 39 are electromagnets and are electrified to demagnetize, the driving sliders 37, 39 are respectively fixedly connected with the threaded sleeves 36, 38 and are tightly attached to the inner wall of the sliding slot 40, the sliding slot 40 is fixedly connected with the movable door 13, the load 33 has fixed snap rings 31, 32, gravity is greater than buoyancy, the fixed snap rings 31, 32 have counter bores with the same diameter as the cylindrical portions of the driving sliders 37, 39 and can be attracted by the electromagnets 37, 39, the fixed snap ring 32 is attached with a sensing piece 30, the sensing piece 30 can be sensed by the hall sensor 29, the hall sensor 29 is fixedly connected with the chute 40, and the driving structure 3 converts the rotary motion of the displacement motor 34 into the linear motion of the driving sliding blocks 37 and 39, so as to drive the load 33 to realize axial movement.
The working process is as follows: at the initial moment, the device does not do any action, and the movable cabin door is completely closed. When the control system receives a control instruction, the rotating motor 17 is started, the rotating motor 17 rotates to drive the movable cabin door 13 to rotate, the hall sensor 20 is installed on the fixed cabin door 12, the rotating shaft connecting frame 24 is attached with the sensing piece 27, and the hall sensor 20 senses the sensing piece 27 along with the continuous rotation of the movable cabin door 13, the control system judges that the movable cabin door 13 rotates in place, the opening and closing angle is shown in fig. 7, and the rotating motor 17 stops rotating; after the rotating motor 17 stops, the displacement motor 34 starts to rotate, the rotation of the displacement motor 34 realizes that the load 33 axially moves towards the direction far away from the displacement motor 34, when the hall sensor 29 detects the induction sheet 30, it is judged that the load 33 axially moves in place, at the moment, the control system energizes the driving sliding blocks 37 and 39, the electromagnet is demagnetized, the load 33 is released, the load 33 continuously moves towards the direction far away from the displacement motor 34 due to inertia, meanwhile, the load 33 continuously falls under the action of gravity and buoyancy, the load 33 continuously keeps away from the release device, namely, the load 33 continuously keeps away from the glider after being released, the reliability and the safety of release are ensured, a period of waiting is provided, the load is completely released, and the displacement motor rotates to drive the movable cabin door 13 to be.
The driving motor and the control system are both sealed in a waterproof way.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (9)
1. The utility model provides a built-in load is axial release under water which characterized in that: the device comprises a frame structure, a door opening mechanism and a driving mechanism, wherein the frame structure is used as a section of the NACA airfoil profile in the extending direction;
the frame structure comprises two panels which are arranged in parallel relatively, and the two panels are connected into an integral structure through a plurality of reinforcing ribs arranged along the edges of the panels; the two panels are perpendicular to the extending direction of the NACA airfoil profile, and the outer end surfaces of the two panels are fixedly connected with the glider body;
the door opening mechanism comprises a cabin door, a hinge mechanism, a rotating motor, a first Hall sensor, a first sensor mounting frame and a first sensing piece; the cabin door is positioned between two panels of the frame structure, is used as a load release outlet and comprises a fixed cabin door and a movable cabin door, the fixed cabin door is fixed at the outer edge of the inner end surface of the first panel, and the movable cabin door is hinged with the fixed cabin door through a hinge mechanism; the rotating motor is fixed on the outer end face of the first panel, an output shaft of the rotating motor is connected with a hinged shaft of the hinged mechanism through a transmission mechanism, and the opening and closing of the movable cabin door are realized by driving the hinged shaft to rotate; the first Hall sensor is fixed on the outer side wall of the fixed cabin door, and the first sensing piece is fixed on the hinge mechanism;
the driving mechanism comprises a control system, a displacement motor, a screw rod, a threaded sleeve, a driving sliding block, a sliding groove, a second Hall sensor, a second induction sheet and a fixed clamping ring, the driving sliding block is an electromagnet, and the sliding groove is fixed on the inner side surface of the movable cabin door and is parallel to the hinged shaft; two ends of the screw rod are arranged in the sliding chute through a support, and the two driving sliding blocks are arranged on the screw rod through thread fit; an output shaft of the displacement motor is connected with a lead screw, and the two driving slide blocks are driven to axially displace by driving the lead screw to rotate; the outer ring surface of the fixed snap ring is provided with counter bores for placing the electromagnets, 2 fixed snap rings are uniformly distributed on the outer peripheral surface of the load along the axial direction of the load, and the driving slide blocks and the counter bores of the fixed snap rings are arranged in a one-to-one correspondence manner and can be mutually adsorbed; the second Hall sensor is arranged in the middle of the sliding groove, and the second induction sheet is fixed on a fixed snap ring close to one end of the displacement motor; the control system is used for controlling the on-off of the driving slide block; when the first Hall sensor senses the first sensing piece, the control system judges that the movable cabin door is opened to a specified position, the rotating motor stops, the displacement motor starts to rotate, the driving screw rod drives the two driving sliding blocks to move axially in the direction away from the displacement motor, when the second Hall sensor senses the second sensing piece, the control system judges that the load moves to the specified position, and meanwhile, the driving sliding blocks are controlled to be electrified and demagnetized, namely, the adsorption force of the driving sliding blocks and the fixed clamping ring disappears, and the load is released.
2. The underwater built-in load axial release device of claim 1, wherein: the frame structure comprises 5 reinforcing ribs which are uniformly distributed on the same side of the frame structure, and the other side of the frame structure is used for installing a door opening mechanism.
3. The underwater built-in load axial release device of claim 1, wherein: the movable cabin door is provided with a plurality of bosses for installing the electromagnets.
4. The underwater built-in load axial release device of claim 1, wherein: the hinge mechanism comprises a rotating shaft support, a rotating shaft connecting frame, a suspension beam and a transmission shaft, and the transmission shaft is arranged on the inner side surface of the fixed cabin door through a plurality of rotating shaft supports and is used as a hinge shaft; the rotating shaft connecting frame is of an asymmetric U-shaped structure, one side of the rotating shaft connecting frame is a short supporting arm, and the other side of the rotating shaft connecting frame is a long supporting arm; the 3 rotating shaft connecting frames are arranged in parallel, wherein the short support arm end heads of the first rotating shaft connecting frame and the second rotating shaft connecting frame are provided with through holes and fixedly connected with the transmission shaft through keys, and the long support arm end head is fixed on the movable cabin door; the end head of a short supporting arm of the third rotating shaft connecting frame is hinged on the fixed cabin door through a shaft and a support, the end head of a long supporting arm is fixed on the movable cabin door, and the shaft is coaxial with the transmission shaft; the suspension beam is vertically fixed on the long support arm of the 3 rotating shaft connecting frames, and the 3 rotating shaft connecting frames are connected into a whole, so that the synchronous rotation of the 3 rotating shaft connecting frames is realized.
5. The underwater built-in load axial release device of claim 1, wherein: the transmission mechanism comprises a synchronous belt and a synchronous belt wheel, the synchronous belt wheel is coaxially fixed on the transmission shaft, the synchronous belt is sleeved on an output shaft of the rotating motor and the synchronous belt wheel, the rotating motor drives the synchronous belt to rotate, and then the synchronous belt wheel and the transmission shaft are driven to rotate.
6. The underwater built-in load axial release device of claim 5, wherein: the synchronous pulley limits the axial displacement thereof through a shaft end retainer ring.
7. The underwater built-in load axial release device of claim 1, wherein: the transmission shaft is in clearance fit with the rotating shaft support, and the axial displacement of the transmission shaft is limited by the shaft end retainer ring.
8. The underwater built-in load axial release device of claim 1, wherein: the rotating motor and the control system both adopt waterproof sealing structures.
9. The underwater built-in load axial release device of claim 1, wherein: the displacement motor and the screw rod are driven by two cylindrical gears which are meshed with each other, the first cylindrical gear is coaxially arranged on an output shaft of the motor, the second cylindrical gear is coaxially arranged at the end of the screw rod, and the first cylindrical gear and the second cylindrical gear are sequentially driven by the displacement motor so as to drive the screw rod to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011450163.1A CN112660341B (en) | 2020-12-09 | 2020-12-09 | Underwater axial release device with built-in load |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011450163.1A CN112660341B (en) | 2020-12-09 | 2020-12-09 | Underwater axial release device with built-in load |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112660341A true CN112660341A (en) | 2021-04-16 |
| CN112660341B CN112660341B (en) | 2022-09-02 |
Family
ID=75402332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011450163.1A Active CN112660341B (en) | 2020-12-09 | 2020-12-09 | Underwater axial release device with built-in load |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112660341B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113192258A (en) * | 2021-04-28 | 2021-07-30 | 广州乐摇摇信息科技有限公司 | Circular division bin self-help vending machine with Bluetooth function and vending method |
| CN114919722A (en) * | 2022-07-01 | 2022-08-19 | 江苏科技大学 | Underwater robot propulsion system for improving navigation stability and control method |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7712429B1 (en) * | 2007-06-28 | 2010-05-11 | United States Of America As Represented By The Secretary Of The Navy | Launch and recovery system for unmanned undersea vehicles |
| EP2256027A2 (en) * | 2009-05-28 | 2010-12-01 | Howaldtswerke-Deutsche Werft GmbH | Submarine |
| CN105799892A (en) * | 2016-03-09 | 2016-07-27 | 中国船舶重工集团公司第七研究所 | Built-in type load carrying cabin suitable for underwater navigation body |
| CN207292349U (en) * | 2017-09-05 | 2018-05-01 | 北京精密机电控制设备研究所 | A kind of deep water outboard hatch door headstock gear |
| CN108482892A (en) * | 2018-04-26 | 2018-09-04 | 湖北三江航天万峰科技发展有限公司 | It is a kind of large size nacelle to open foldable carbon fiber hatchcover |
| CN109398656A (en) * | 2018-11-21 | 2019-03-01 | 哈尔滨工程大学 | A kind of unmanned submersible's cterpillar drive |
| CN208931628U (en) * | 2018-10-29 | 2019-06-04 | 四川特飞科技股份有限公司 | A kind of small drone landing-gear-door mechanism |
| CN210063336U (en) * | 2019-06-26 | 2020-02-14 | 重庆前卫科技集团有限公司 | Clamping release mechanism |
| CN110884613A (en) * | 2019-11-28 | 2020-03-17 | 中国科学院沈阳自动化研究所 | Cabin door system of underwater robot |
| CN111268070A (en) * | 2018-12-05 | 2020-06-12 | 中国科学院沈阳自动化研究所 | Load carrying and releasing device for large UUV |
| US20200200506A1 (en) * | 2018-02-07 | 2020-06-25 | Raytheon Company | Rail-launching munition release |
| CN211342368U (en) * | 2019-11-12 | 2020-08-25 | 长安大学 | Bent arm shaft driving mechanism and cabin door electric opening and closing mechanism |
-
2020
- 2020-12-09 CN CN202011450163.1A patent/CN112660341B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7712429B1 (en) * | 2007-06-28 | 2010-05-11 | United States Of America As Represented By The Secretary Of The Navy | Launch and recovery system for unmanned undersea vehicles |
| EP2256027A2 (en) * | 2009-05-28 | 2010-12-01 | Howaldtswerke-Deutsche Werft GmbH | Submarine |
| CN105799892A (en) * | 2016-03-09 | 2016-07-27 | 中国船舶重工集团公司第七研究所 | Built-in type load carrying cabin suitable for underwater navigation body |
| CN207292349U (en) * | 2017-09-05 | 2018-05-01 | 北京精密机电控制设备研究所 | A kind of deep water outboard hatch door headstock gear |
| US20200200506A1 (en) * | 2018-02-07 | 2020-06-25 | Raytheon Company | Rail-launching munition release |
| CN108482892A (en) * | 2018-04-26 | 2018-09-04 | 湖北三江航天万峰科技发展有限公司 | It is a kind of large size nacelle to open foldable carbon fiber hatchcover |
| CN208931628U (en) * | 2018-10-29 | 2019-06-04 | 四川特飞科技股份有限公司 | A kind of small drone landing-gear-door mechanism |
| CN109398656A (en) * | 2018-11-21 | 2019-03-01 | 哈尔滨工程大学 | A kind of unmanned submersible's cterpillar drive |
| CN111268070A (en) * | 2018-12-05 | 2020-06-12 | 中国科学院沈阳自动化研究所 | Load carrying and releasing device for large UUV |
| CN210063336U (en) * | 2019-06-26 | 2020-02-14 | 重庆前卫科技集团有限公司 | Clamping release mechanism |
| CN211342368U (en) * | 2019-11-12 | 2020-08-25 | 长安大学 | Bent arm shaft driving mechanism and cabin door electric opening and closing mechanism |
| CN110884613A (en) * | 2019-11-28 | 2020-03-17 | 中国科学院沈阳自动化研究所 | Cabin door system of underwater robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113192258A (en) * | 2021-04-28 | 2021-07-30 | 广州乐摇摇信息科技有限公司 | Circular division bin self-help vending machine with Bluetooth function and vending method |
| CN114919722A (en) * | 2022-07-01 | 2022-08-19 | 江苏科技大学 | Underwater robot propulsion system for improving navigation stability and control method |
| CN114919722B (en) * | 2022-07-01 | 2023-12-01 | 江苏科技大学 | Underwater robot propulsion system for improving navigation stability and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112660341B (en) | 2022-09-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112660341B (en) | Underwater axial release device with built-in load | |
| CN110304223B (en) | Bionic machine bat ray | |
| CA2955035C (en) | Window covering system and window covering control apparatus thereof | |
| CN104960650B (en) | A kind of underwater robot with six degrees of freedom | |
| CN110203358B (en) | AUV (autonomous underwater vehicle) docking station capable of automatically adjusting direction along with ocean current | |
| CN113120198A (en) | Underwater detection robot | |
| CN104627342A (en) | Gliding machine dolphin | |
| CN107618642B (en) | A kind of undersea detection device | |
| CN211592892U (en) | Center-of-gravity shifting type amphibious sampling robot | |
| CN102505394B (en) | Low-energy-consumption no-motor-drive type transmission device used for stenter | |
| CN103612728A (en) | Underwater three-dimensional detection gliding robot | |
| CN109352639B (en) | Underwater rope driving mechanical arm system carried by autonomous underwater vehicle | |
| CN108482669B (en) | Sea-air amphibious aircraft | |
| CN109436255A (en) | A kind of underwater long range tunnel detection robot | |
| CN210744994U (en) | Magnetic suspension inspection travelling mechanism and magnetic suspension inspection system | |
| CN211543841U (en) | Novel bionic jellyfish robot | |
| CN109733572B (en) | Ballast abandoning device for full-sea deep manned submersible | |
| CN112623162B (en) | Underwater radial release device with built-in load | |
| CN103847940B (en) | Hazard detection robot for interior of fluid container | |
| CN109795640B (en) | Marine model ship balancing device and installation method thereof | |
| CN104554677B (en) | Stable diving device and underground unmanned underwater vehicle comprising stable driving device | |
| CN110816793A (en) | Underwater robot and working method thereof | |
| CN102965872B (en) | Motor-drive-free transmission device for stentering setting machine | |
| CN109515650B (en) | Chain climbing robot for ocean platform anchor chain detection | |
| CN208979083U (en) | A kind of deformable autonomous underwater robot |
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 |