CN114034875A - ROV underwater contactless transfer storage sample device and transfer storage method - Google Patents
ROV underwater contactless transfer storage sample device and transfer storage method Download PDFInfo
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- CN114034875A CN114034875A CN202111440794.XA CN202111440794A CN114034875A CN 114034875 A CN114034875 A CN 114034875A CN 202111440794 A CN202111440794 A CN 202111440794A CN 114034875 A CN114034875 A CN 114034875A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
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Abstract
The invention relates to an ROV underwater non-contact sample transfer and storage device and a transfer and storage method, wherein the ROV underwater non-contact sample transfer and storage device comprises a lifting mechanism and a storage device, a rotating base adopts a regular polygon, and a first side plate is hinged to each edge of the rotating base; a second side plate is hinged to the edge of one side of the first side plate, which is far away from the rotating base; a top sealing plate is fixed on the edge of one side of the second side plate, which is away from the first side plate; storage device has open and closed two kinds of states, and when storage device closed, first curb plate, second curb plate, top shrouding closed formation airtight space, be equipped with link assembly on the outer wall of first curb plate, second curb plate, link assembly includes end to end articulated a plurality of connecting rods, and the connecting rod all articulates continuous, rotating base with first curb plate, second curb plate, rotating base. The unfolding or locking of the storage device has the sample transfer guiding function.
Description
Technical Field
The invention relates to the technical field of ROV underwater storage and transfer samples, in particular to an ROV underwater contactless transfer and storage sample device and a transfer and storage method.
Background
The underwater platform usually carries an ROV for seabed sample collection, but the ROV has limited storage capacity, so the ROV needs to return to the underwater platform for sample transfer and storage for many times after collecting samples.
At present, when an ROV transfers a sample, the ROV is generally required to be in butt joint with an underwater platform, the ROV is required to approach a butt joint mechanism on a deck surface of the underwater platform in a proper posture, and after the butt joint is completed, the ROV transfers the sample to a sampling basket fixed on the platform through a manipulator.
However, due to the complex underwater ocean current environment, the ROV has a large docking difficulty in the actual docking process, and often collides with the deck surface of the underwater platform, so that the docking failure is caused, and the equipment is seriously or even possibly damaged.
Disclosure of Invention
The present applicant aims at the above disadvantages in the prior art to provide a rational ROV underwater contactless sample transfer and storage device and method, wherein the storage device is capable of moving in multiple degrees of freedom, so as to realize the expansion or locking of the storage device for receiving and storing samples.
The technical scheme adopted by the invention is as follows:
an ROV underwater contactless sample transferring and storing device and a transferring and storing method, which comprises a lifting mechanism and a storage device arranged on the top of the lifting mechanism,
the storage device comprises a fixed base and a motor, wherein the fixed base is connected with the top surface of the lifting mechanism, the motor is arranged below the fixed base, and an output shaft of the motor extends upwards and is connected with a rotating base;
the rotary base is in a regular polygon shape, and a first side plate is hinged to each edge of the rotary base;
a second side plate is hinged to the edge of one side of the first side plate, which is far away from the rotating base;
a top sealing plate is fixed on the edge of one side of the second side plate, which is away from the first side plate;
the storage device has two states of opening and closing, when the storage device is closed, the first side plate, the second side plate and the top sealing plate are closed to form a closed space,
be equipped with link assembly on the outer wall of first curb plate, second curb plate, link assembly includes end to end articulated a plurality of connecting rods, and the connecting rod all articulates with first curb plate, second curb plate, rotating base and links to each other, rotating base.
The connecting rod assembly has six rotating pairs, and the rotating pairs comprise five rotating pairs between adjacent connecting rods and one rotating pair between the connecting rod assembly and the fixed base.
The connecting rod assembly comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod which are hinged with each other end to end,
one end of the first connecting rod is hinged with the side edge of the fixed base; the terminal end of the sixth connecting rod is hinged with one of the second side plates.
The outer walls of the first side plate and the second side plate are respectively provided with a rotary column, and the third connecting rod and the sixth connecting rod are respectively hinged with the rotary columns of the first side plate and the second side plate.
The fixed base and the rotating base are both arranged to be regular pentagons, and the side length of the rotating base is larger than that of the fixed base; the first side plate, the second side plate and the top sealing plate are respectively provided with five blocks, and each edge of the rotary base corresponds to one first side plate and one second side plate.
Install the mesh grid between the adjacent first curb plate, the mesh grid is used for filling the gap that two adjacent first curb plates opened the back and form.
When the storage device is closed, the woven mesh is folded and positioned outside the storage device.
The lifting mechanism adopts a shear type lifting platform, the top of the shear type lifting platform is provided with an installation surface, and the storage device is fixed on the installation surface.
Rotating base, first curb plate and second curb plate all are equipped with the blotter on facing the one side of storage space.
A transfer and storage method for a sample transfer and storage device under water by using an ROV without contact, comprising the following steps:
firstly, a storage device open stage: before transferring a sample, the lifting mechanism rises to a specified height and is far away from the deck surface of the underwater working platform, the motor operates to drive the rotating base to rotate, the rotating base drives the connecting rod assembly to link, and the connecting rod assembly drives the first side plate and the second side plate to rotate and open to form an open sample transferring channel;
II, a manipulator feeding stage: the manipulator carries the grabbed sample, moves to the position right above the open storage device, and releases and falls the sample into the storage device;
thirdly, closing up the storage device: after the sample falls into the enveloping space of the storage device, the motor rotates reversely to drive the rotating base to rotate reversely, the rotating base drives the connecting rod assembly and the connecting rod assembly to drive the first side plate and the second side plate to fold, and the storage device forms a closed space; the lifting mechanism descends to withdraw and store the storage device and the samples in the storage device.
The invention has the following beneficial effects:
the invention has compact and reasonable structure and convenient operation, and the storage device is driven by one rotational degree of freedom to realize the multi-degree-of-freedom linkage of the connecting rod, thereby realizing the expansion or locking of the storage device. When the storage device is unfolded, a sample transfer channel with a large opening can be formed, and meanwhile, the sample transfer channel has a certain unfolding angle when being unfolded, so that the sample transfer guide function is achieved, the ROV can transfer samples in a non-contact manner, a sample transfer guide structure does not need to be additionally designed, the occupied space of a mechanism is reduced, and the success rate of the ROV releasing and transferring the samples is greatly improved; when the storage device is finally locked, the large opening is closed into a regular polyhedron enveloping space, so that the space volume of the final storage state is reduced, and the storage and the protection of the sample are realized. Meanwhile, the ROV transfers the sample in a non-contact way, so that the damage of the ROV or an underwater working platform caused by the collision of the ROV with the deck surface of the underwater platform during butt joint when the conventional sample is transferred can be avoided.
The connecting rod assembly is used for driving the first side plate and the second side plate to rotate, and the mouth of the storage device can be expanded as much as possible through the rotation expansion of the first side plate and the second side plate, so that the storage device can receive materials falling from the manipulator.
The connecting rod assembly comprises five groups, each group corresponds to one first side plate and one second side plate, each side plate can be accurately positioned, the regular pentagonal opening and closing structure can be in a balanced opening and closing state, and the phenomenon that one group of side plates is clamped and blocked is not easy to occur.
The invention can adjust the height and receiving area when receiving materials through the lifting mechanism and the storage device simultaneously so as to be matched with the manipulator.
The woven mesh can prevent the sample from leaking in the opening and closing process of the side plates, and the sampling reliability is ensured.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention, in which the storage device is in an open configuration.
Fig. 2 is a schematic view of the overall structure of the present invention, in which the memory device is in a closed state.
Fig. 3 is a partial schematic view of the storage device of the present invention, which is used for showing the relative position relationship between the connecting rod assembly and the first side plate and the second side plate.
Wherein: 1. a storage device; 2. a lifting mechanism; 3. a sample;
101. rotating the base; 102. a fixed base; 103. a motor; 104. a first link; 105. a second link; 106. a third link; 107. a fourth link; 108. a fifth link; 109. a sixth link; 110. a second side plate; 111. a top sealing plate; 112. weaving a net; 113. a first side plate; 114. a cushion pad;
201. and (3) a mounting surface.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1-3, the apparatus for transferring and storing samples under ROV and the method for transferring and storing samples under ROV in the present embodiment include a lifting mechanism 2, a storage apparatus 1 installed on top of the lifting mechanism 2,
the storage device 1 comprises a fixed base 102 and a motor 103, wherein the fixed base 102 is connected with the top surface of the lifting mechanism 2, the motor 103 is arranged below the fixed base 102, and an output shaft of the motor 103 extends upwards and is connected with a rotating base 101;
the rotating base 101 is in a regular polygon shape, and a first side plate 113 is hinged to each edge of the rotating base 101;
a second side plate 110 is hinged to the edge of one side of the first side plate 113, which is far away from the rotating base 101;
a top sealing plate 111 is fixed on the edge of one side of the second side plate 110, which is far away from the first side plate 113;
the storage device 1 has two states of opening and closing, when the storage device 1 is closed, the first side plate 113, the second side plate 110 and the top closing plate 111 are closed to form a closed space,
be equipped with link assembly on the outer wall of first curb plate 113, second curb plate 110, link assembly includes a plurality of connecting rods of end to end articulated, and the connecting rod all articulates with first curb plate 113, second curb plate 110, rotating base 101 and links to each other, rotating base 101.
The linkage assembly has six revolute pairs including five revolute pairs between adjacent links and one revolute pair between the linkage assembly and the stationary base 102.
The connecting rod assembly comprises a first connecting rod 104, a second connecting rod 105, a third connecting rod 106, a fourth connecting rod 107, a fifth connecting rod 108 and a sixth connecting rod 109 which are connected end to end in an articulated manner,
one end of the first connecting rod 104 is hinged with the side edge of the fixed base 102; the terminal end of the sixth link 109 is hinged to one of the second side plates 110.
The outer walls of the first side plate 113 and the second side plate 110 are respectively provided with a rotary column, and the third connecting rod 106 and the sixth connecting rod 109 are respectively hinged with the rotary columns of the first side plate 113 and the second side plate 110.
The fixed base 102 and the rotating base 101 are both arranged to be regular pentagons, and the side length of the rotating base 101 is larger than that of the fixed base 102; five pieces of the first side plate 113, the second side plate 110 and the top sealing plate 111 are respectively arranged, and each edge of the rotating base 101 corresponds to one first side plate 113 and one second side plate 110.
A mesh grid 112 is arranged between the adjacent first side plates 113, and the mesh grid 112 is used for filling gaps formed after the adjacent first side plates 113 are opened.
When the storage device 1 is closed, the mesh grid 112 is folded out of the storage device 1.
The lifting mechanism 2 adopts a scissor type lifting platform, the top of the scissor type lifting platform is provided with an installation surface 201, and the storage device 1 is fixed on the installation surface 201.
The rotating base 101, the first side plate 113 and the second side plate 110 are provided with a buffer pad on one side facing the storage space.
The transfer and storage method for the sample transfer and storage device by using the ROV underwater contactless transfer and storage comprises the following steps:
firstly, the open stage of the storage device 1: before transferring the sample 3, the lifting mechanism 2 is lifted to a designated height and is far away from the deck surface of the underwater working platform, the motor 103 is operated to drive the rotating base 101 to rotate, the rotating base 101 drives the connecting rod assembly to link, and the connecting rod assembly drives the first side plate 113 and the second side plate 110 to rotate and open to form an open sample 3 transferring channel;
II, a manipulator feeding stage: the manipulator carries the grabbed sample 3, moves to the position right above the open storage device 1, and releases and falls the sample 3 into the storage device 1;
thirdly, closing up the storage device 1: after the sample 3 falls into the enveloping space of the storage device 1, the motor 103 rotates reversely to drive the rotating base 101 to rotate reversely, the rotating base 101 drives the connecting rod assembly, the connecting rod assembly drives the first side plate 113 and the second side plate 110 to fold, and the storage device 1 forms a closed space; the lifting mechanism 2 descends to withdraw the storage device 1 and the sample 3 therein for storage.
The specific structure and working process of the embodiment are as follows:
as shown in fig. 1 and 2, the present invention is composed of two parts, namely, an elevating mechanism 2 and a storage device 1, wherein the elevating mechanism 2 is used for adjusting the height in the vertical direction, and the storage device 1 is a hollow structure and is used for accommodating a sample 3 sent by a mechanical hand.
As shown in fig. 1, when the storage device 1 is opened, the mesh grid 112 between the adjacent first side plates 113 and between the adjacent second side plates 110 is opened, the whole storage device 1 is a large open container, and the sample 3 is put in the storage device 1.
Storage device 1 in this embodiment adopts regular pentagon plate to constitute, including the unable adjustment base 102 of bottom, be located unable adjustment base 102 top, the rotating base 101 that is driven by motor 103, articulated five first curb plate 113 on the five edges of rotating base 101, one of them articulated second curb plate 110 in two edges at five first curb plate 113 tops, second curb plate 110 also adopts five, and with first curb plate 113 between the contained angle setting. The top edge of the second side plate 110 is a horizontal edge, the top sealing plates 111 are installed at the top edge of the second side plate 110 according to a fixed angle, and when the storage device 1 is folded, the five top sealing plates 111 at the top are combined into a plane.
As shown in fig. 2 and 3, the link assembly includes a first link 104, a second link 105, a third link 106, a fourth link 107, a fifth link 108, and a sixth link 109. Wherein the first connecting rod 104 is hinged on the edge of the fixed base 102, the other end of the first connecting rod 104 is hinged with the second connecting rod 105, one end of the second connecting rod 105 departing from the first connecting rod 104 is hinged with the third connecting rod 106, the third connecting rod 106 is in an obtuse-angle folding angle shape, and the third connecting rod is hinged with the first side plate 113 at the folding point through a rotary column. The end of the third connecting rod 106, which faces away from the second connecting rod 105, is hinged to a fourth connecting rod 107, the end of the fourth connecting rod 107, which faces away from the third connecting rod 106, is hinged to a fifth connecting rod 108, the length of the first connecting rod 104, the second connecting rod 105, the fourth connecting rod 107, the fifth connecting rod 108 and the sixth connecting rod 109 is smaller than that of the third connecting rod 106, and the first connecting rod 104, the second connecting rod 105, the fourth connecting rod 107, the fifth connecting rod 108 and the sixth connecting rod 109 are arranged in a linear manner. The angle between the first connecting rod 104 and the second connecting rod 105 in a plane parallel to the side plates is adjustable; the angle between the fourth connecting rod 107 and the fifth connecting rod 108 in a plane parallel to the side plates is adjustable; the angles between the fixed base 102 and the first link 104, between the second link 105 and the third link 106, between the third link 106 and the fourth link 107, and between the fifth link 108 and the sixth link 109 can be adjusted only in the direction toward the storage center.
The storage device 1 is installed on the installation surface 201 of the lifting mechanism 2, and the lifting mechanism 2 is installed on the deck surface of the underwater working platform. The fixed base 102 is connected with the mounting surface 201 of the lifting mechanism 2 through screws, the motor 103 is installed below the fixed base 102, and the driving shaft of the motor 103 is connected with the rotating base 101.
During the in-service use, before transferring sample 3, elevating system 2 rises to appointed height, keeps away from under water behind the work platform deck face, and motor 103 rotates, drives swivel base 101 and rotates, and swivel base 101 drives link assembly and rotates, and link assembly control storage device 1 expandes to appointed angle, is the state in figure 1, forms sample 3 transfer channel that has big open-ended.
After storage device 1 expandes, external ROV (remote control unmanned vehicles) location storage device 1, control ROV keeps hovering state after being close storage device 1, a certain distance above storage device 1, control ROV manipulator releases sample 3 in storage device 1 directly over a certain distance department, expand certain angle at storage device 1, possess sample 3 and shift under the prerequisite of direction function, sample 3 finally falls into storage device 1's envelope space, realize the contactless transfer of sample 3, avoid the collision of ROV and underwater work platform deck face, rotating base 101 simultaneously, first curb plate 113, blotter 114 on the second curb plate 110 can prevent that sample 3 from causing the damage when releasing the transfer. The cushion 114 in this embodiment is a flexible rubber layer.
After the sample 3 enters the envelope space of the storage device 1, the motor 103 is controlled to rotate to drive the rotating base 101 to rotate, the five first side plates 113, the five second side plates 110 and the connecting rod assembly are linked, the storage device 1 is locked in a closed mode to form a regular pentahedral envelope space, and the space volume of the final storage state is reduced.
After the storage device 1 is closed and locked, the lifting device descends, and the storage device 1 and the samples 3 in the storage device are recovered and stored.
The invention has a certain unfolding angle when unfolded, has the function of transferring and guiding the sample 3, reduces the occupied space of the mechanism and can realize the non-contact transfer of the sample 3.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (10)
1. An ROV underwater contactless transfer storage sample device and a transfer storage method are characterized in that: comprises a lifting mechanism (2) and a storage device (1) arranged at the top of the lifting mechanism (2),
the storage device (1) comprises a fixed base (102) and a motor (103), wherein the fixed base (102) is connected with the top surface of the lifting mechanism (2), the motor (103) is installed below the fixed base (102), and an output shaft of the motor (103) extends upwards and is connected with a rotating base (101);
the rotary base (101) is in a regular polygon shape, and a first side plate (113) is hinged to each edge of the rotary base (101);
a second side plate (110) is hinged to the edge of one side of the first side plate (113) away from the rotating base (101);
a top sealing plate (111) is fixed on the edge of one side of the second side plate (110) departing from the first side plate (113); the storage device (1) has two states of opening and closing, when the storage device (1) is closed, the first side plate (113), the second side plate (110) and the top closing plate (111) are closed to form a closed space,
be equipped with link assembly on the outer wall of first curb plate (113), second curb plate (110), link assembly includes end to end articulated a plurality of connecting rods, and the connecting rod all articulates with first curb plate (113), second curb plate (110), rotating base (101) and links to each other, rotating base (101).
2. An ROV underwater contactless transfer storage sample device according to claim 1, wherein: the connecting rod assembly has six rotating pairs in total, and comprises five rotating pairs between adjacent connecting rods and one rotating pair between the connecting rod assembly and the fixed base (102).
3. An ROV underwater contactless transfer storage sample device according to claim 2, wherein: the connecting rod component comprises a first connecting rod (104), a second connecting rod (105), a third connecting rod (106), a fourth connecting rod (107), a fifth connecting rod (108) and a sixth connecting rod (109) which are hinged with each other end to end,
one end of the first connecting rod (104) is hinged with the side edge of the fixed base (102); the terminal end of the sixth connecting rod (109) is hinged with one of the second side plates (110).
4. An ROV underwater contactless transfer storage sample device according to claim 2, wherein: the outer walls of the first side plate (113) and the second side plate (110) are provided with rotary columns, and the third connecting rod (106) and the sixth connecting rod (109) are respectively hinged with the rotary columns of the first side plate (113) and the second side plate (110).
5. An ROV underwater contactless transfer storage sample device according to claim 2, wherein: the fixed base (102) and the rotating base (101) are both arranged to be regular pentagons, and the side length of the rotating base (101) is greater than that of the fixed base (102); the first side plate (113), the second side plate (110) and the top sealing plate (111) are respectively provided with five blocks, and each edge of the rotating base (101) corresponds to one first side plate (113) and one second side plate (110).
6. An ROV underwater contactless transfer storage sample device according to claim 1, wherein: a woven mesh (112) is arranged between the adjacent first side plates (113), and the woven mesh (112) is used for filling gaps formed after the adjacent first side plates (113) are opened.
7. An ROV underwater contactless transfer storage sample device according to claim 6, wherein: when the storage device (1) is closed, the woven mesh (112) is folded to be positioned outside the storage device (1).
8. An ROV underwater contactless transfer storage sample device according to claim 1, wherein: the lifting mechanism (2) adopts a scissor type lifting platform, the top of the scissor type lifting platform is provided with an installation surface (201), and the storage device (1) is fixed on the installation surface (201).
9. An ROV underwater contactless transfer storage sample device according to claim 1, wherein: and one surfaces of the rotating base (101), the first side plate (113) and the second side plate (110) facing the storage space are provided with buffer pads (114).
10. A transfer storage method using the ROV underwater contactless transfer storage sample apparatus of claim 1, comprising the steps of:
firstly, a storage device (1) is opened: before transferring the sample (3), the lifting mechanism (2) rises to a designated height and is far away from the deck surface of the underwater working platform, the motor (103) operates to drive the rotating base (101) to rotate, the rotating base (101) drives the connecting rod assembly to link, and the connecting rod assembly drives the first side plate (113) and the second side plate (110) to rotate and open to form an open sample (3) transferring channel;
II, a manipulator feeding stage: the manipulator carries the grabbed sample (3), moves to the position right above the open storage device (1), and releases and falls the sample (3) into the storage device (1);
thirdly, closing up the storage device (1): after the sample (3) falls into the enveloping space of the storage device (1), the motor (103) rotates reversely to drive the rotating base (101) to rotate reversely, the rotating base (101) drives the connecting rod assembly, the connecting rod assembly drives the first side plate (113) and the second side plate (110) to fold, and the storage device (1) forms a closed space; the lifting mechanism (2) descends to withdraw and store the storage device (1) and the sample (3) therein.
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| CN202111440794.XA CN114034875B (en) | 2021-11-30 | 2021-11-30 | ROV underwater contactless transfer storage sample device and transfer storage method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115743412A (en) * | 2022-11-28 | 2023-03-07 | 深海技术科学太湖实验室 | Self-adaptive recovery device and recovery method for autonomous submersible vehicle |
| CN116840517A (en) * | 2023-07-03 | 2023-10-03 | 安徽省产品质量监督检验研究院 | Battery short-circuit testing machine |
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| CN111958626A (en) * | 2020-09-01 | 2020-11-20 | 曲皇屹 | Bionic execution device at tail end of robot |
| CN214293186U (en) * | 2021-01-22 | 2021-09-28 | 博雅工道（北京）机器人科技有限公司 | Polyhedron cladding formula is gripper under water |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111958626A (en) * | 2020-09-01 | 2020-11-20 | 曲皇屹 | Bionic execution device at tail end of robot |
| CN214293186U (en) * | 2021-01-22 | 2021-09-28 | 博雅工道（北京）机器人科技有限公司 | Polyhedron cladding formula is gripper under water |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115743412A (en) * | 2022-11-28 | 2023-03-07 | 深海技术科学太湖实验室 | Self-adaptive recovery device and recovery method for autonomous submersible vehicle |
| CN115743412B (en) * | 2022-11-28 | 2024-01-26 | 深海技术科学太湖实验室 | Self-adaptive recovery device and recovery method for autonomous submersible vehicle |
| CN116840517A (en) * | 2023-07-03 | 2023-10-03 | 安徽省产品质量监督检验研究院 | Battery short-circuit testing machine |
| CN116840517B (en) * | 2023-07-03 | 2024-03-15 | 安徽省产品质量监督检验研究院 | Battery short-circuit testing machine |
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