CN114475994A - Portable light load rejection mechanism for AUV (autonomous Underwater vehicle) and operation method - Google Patents
Portable light load rejection mechanism for AUV (autonomous Underwater vehicle) and operation method Download PDFInfo
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- CN114475994A CN114475994A CN202210276607.7A CN202210276607A CN114475994A CN 114475994 A CN114475994 A CN 114475994A CN 202210276607 A CN202210276607 A CN 202210276607A CN 114475994 A CN114475994 A CN 114475994A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 82
- 238000004806 packaging method and process Methods 0.000 claims abstract description 38
- 229910052742 iron Inorganic materials 0.000 claims abstract description 24
- 238000007789 sealing Methods 0.000 claims abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 10
- 230000009471 action Effects 0.000 claims abstract description 9
- 230000005484 gravity Effects 0.000 claims abstract description 5
- 239000003921 oil Substances 0.000 claims description 25
- 238000005538 encapsulation Methods 0.000 claims description 10
- 239000010720 hydraulic oil Substances 0.000 claims description 5
- 230000006835 compression Effects 0.000 abstract description 2
- 238000007906 compression Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Water Treatment By Electricity Or Magnetism (AREA)
Abstract
A portable light load rejection mechanism for an AUV (autonomous underwater vehicle) and an operation method thereof comprise a cylindrical electromagnetic iron core, an electromagnet packaging shell, an electromagnet packaging end cover, an electromagnet connecting stud, a boosting spring, a round iron sheet with a screw rod, a ballast round lead block, a load rejection guide pipe, a pressure balance oil-filled hose, a watertight plug, a limit cylindrical pin, a load rejection mechanism mounting support, a sealing ring and the like. The screw rod-containing round iron sheet is in contact with the electromagnetic iron core, the control system gives an instruction, the electromagnetic iron core is electrified to generate magnetic force, the screw rod-containing round iron sheet is adsorbed, the load rejection mechanism is in a working state, and the boosting spring is in a compression state at the moment. When the portable AUV is launched for operation and needs to float upwards emergently, the electromagnetic iron core is powered off and loses magnetic force, the screw rod round iron sheet and the ballast round lead block connected in series slide downwards along the load throwing guide pipe under the combined action of the reverse thrust of the boosting spring and the self gravity of the ballast round lead block to finish load throwing action, and the portable AUV obtains extra positive buoyancy and floats to the water surface.
Description
Technical Field
The invention relates to the technical field of load rejection mechanisms, in particular to a portable light load rejection mechanism for an AUV (autonomous underwater vehicle) and an operation method.
Background
Development and application of an Autonomous Underwater Vehicle (AUV) can effectively improve the monitoring capability on marine environment, and is supplement and improvement of a marine environment three-dimensional monitoring system.
The mass distribution of AUV is helpful for improving the space and time observation density of marine environment, obtaining a large amount of scientific data, enhancing the marine monitoring capability, and has wide application prospect in the aspects of monitoring, investigation, detection and the like of marine environment. Generally, AUVs under 50 kg are defined as portable AUVs, which are more and more interesting due to their low cost, convenient operation and easy group coordination. Because the portable AUV is a completely autonomous underwater robot, various complex conditions can be easily lost during underwater operation, and the emergency ballast throwing mechanism is very important for ensuring the safety of the portable AUV, so that the portable AUV can abandon ballast in emergency and quickly float to the water surface, and is convenient to search and salvage.
The current underwater load rejection technology in the prior art comprises: the mechanical load rejection device needs a driving motor or a hydraulic oil cylinder, and has a complex structure; fusing and load rejection, wherein an electrochemical mode is adopted, and the load rejection time cannot be controlled in real time; the explosive type load rejection is realized by using an electric explosion bolt, so that the cost is high and certain danger is realized. The load rejection mechanism for the portable AUV mostly adopts an electromagnet load rejection mode. In addition, a patent CN202010689650.7 is an underwater load rejection mechanism, a patent CN111348163A is a full-sea deep underwater robot load rejection device, and a patent CN108032977A is an underwater emergency load rejection device, all of which adopt an electromagnet load rejection mode, and simultaneously use a lever mode to increase the load carrying capacity, but the load rejection mechanisms are relatively complex in structure and large in size, and are not suitable for being arranged and installed on a portable AUV with limited main scale and limited size.
Disclosure of Invention
The applicant provides a light load rejection mechanism for a portable AUV and an operation method thereof aiming at the defects in the prior art, so that the light load rejection mechanism is simple in structure and small in size, a cylindrical electromagnetic iron core is directly packaged in an oil-filled sealing cavity, and a method that the electromagnetic iron core has a magnetic end face to directly adsorb and reject ballast is adopted, unnecessary components such as a lever mechanism are omitted, the structural form and the volume space of the load rejection mechanism are reduced to the greatest extent, and the portable AUV with the limited size can be conveniently installed and used.
The technical scheme adopted by the invention is as follows:
the utility model provides a portable AUV is with light-duty mechanism of throwing carrying, includes portable AUV, the light-duty mechanism of throwing carrying of fixed mounting on the portable AUV, the concrete structure of light-duty mechanism of throwing carrying is: the portable AUV tail part mounting device comprises a mounting bracket, wherein the mounting bracket is fixed on the tail part of the portable AUV through a bolt; the electromagnet packaging structure is characterized by further comprising an electromagnet packaging shell, a cylindrical electromagnetic iron core is mounted inside the electromagnet packaging shell through a sealing ring, an electromagnet packaging end cover is mounted on the electromagnet packaging shell through the sealing ring, an electromagnet connecting stud is connected between the electromagnet packaging end cover and the cylindrical electromagnetic iron core, and one side wall of the electromagnet packaging shell is connected with the electromagnet packaging end cover; the end part of the pressure balance oil-filled hose is provided with a watertight plug, and a lead connected with the cylindrical electromagnetic iron core is arranged in the pressure balance oil-filled hose; the bottom of cylindrical electromagnetic core is provided with takes the screw rod disc, and the screw rod part of taking the screw rod disc passes the bottom of electro-magnet encapsulation shell to install a plurality of ballast circle lead blocks on the screw rod, the cover has the boosting spring on electro-magnet encapsulation shell and the screw rod of ballast circle lead block top, the cover has the nut on the screw rod of ballast circle lead block below, the externally mounted of ballast circle lead block has the throwing load stand pipe.
The further technical scheme is as follows:
the middle part of the mounting bracket is of a flat cube structure, and folded plates extend from two ends of the mounting bracket respectively.
Cylindrical electromagnetic core, electromagnet encapsulation shell, electromagnet encapsulation end cover, pressure balance oil charge hose, watertight plug and sealing washer constitute a watertight cavity, be full of insulating hydraulic oil in the watertight cavity, utilize pressure balance oil charge hose to realize the inside and outside pressure balance of watertight cavity, ensure that cylindrical electromagnetic core is insulating and withstand voltage of environment under water.
The ballast round lead block and the electromagnet packaging shell are surrounded by the ballast round lead block and the electromagnet packaging shell simultaneously, the top of the ballast round lead block is fixed with the mounting support, an opening is further formed in the upper portion of the ballast round lead block, and a pressure balance oil filling hose is mounted at the opening.
The bottom of the load rejection guide pipe is provided with earrings at intervals, a limiting cylindrical pin penetrates between the two earrings, and the limiting cylindrical pin blocks a screw rod-containing round iron sheet and a ballast round lead block.
An operation method of a portable light load rejection mechanism for an AUV comprises the following operation steps:
the round iron sheet with the screw is contacted with the cylindrical electromagnetic iron core;
the portable AUV control system gives an instruction, the cylindrical electromagnetic iron core is electrified to generate magnetic force, and the iron sheet with the screw rod is adsorbed;
at the moment, the load rejection mechanism is in a working state, and the boosting spring is in a compressed state;
when portable AUV operation of launching, need emergent come-up, electrical system crash outage, electric power exhaust accident:
the cylindrical electromagnetic iron core loses magnetic force when being powered off, the screw rod-carrying round iron sheet and the ballast round lead block connected in series slide out along the load rejection guide pipe under the combined action of the reverse thrust of the boosting spring and the gravity of the ballast round lead block to complete the load rejection action, and the portable AUV obtains extra positive buoyancy and floats to the water surface.
The invention has the following beneficial effects:
the portable AUV load rejection mechanism is compact and reasonable in structure and convenient to operate, the requirement of the portable AUV on miniaturization of the load rejection mechanism can be met only by one cylindrical conventional electromagnetic iron core through oil charging and packaging, the device is simple in structure and small in size, is convenient to arrange and use on the portable AUV with limited space, has a simulation installation function in an unpowered state, and has the characteristics of low power consumption, high safety redundancy and strong emergency capability in an electrified use state.
The invention is mainly installed on a portable AUV and is used for a load rejection mechanism for AUV emergency load rejection and floating.
Drawings
Fig. 1 is a diagram of the application of the present invention.
Fig. 2 is a schematic structural diagram of the present invention.
Fig. 3 is a front view of the present invention.
Fig. 4 is a side view (inside view) of the present invention.
Fig. 5 is an internal view of the present invention (omitting the pressure-equalizing oil-filled hose).
Wherein: 100. a light load rejection mechanism; 101. a portable AUV;
1. a cylindrical electromagnetic core; 2. an electromagnet packaging shell; 3. an electromagnet packaging end cover; 4. the electromagnet is connected with the stud; 5. a boost spring; 6. a round iron sheet with a screw; 7. ballasting the lead block; 8. a load rejection guide pipe; 9. a pressure-balanced oil-filled hose; 10. a watertight plug; 11. a limiting cylindrical pin; 12. mounting a bracket; 13. a seal ring; 14. a nut; 15. a wire; 16. an ear ring.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1 to 5, the portable lightweight load rejection mechanism for the AUV of the present embodiment includes a portable AUV101, the lightweight load rejection mechanism 100 is fixedly installed on the portable AUV101, and the specific structure of the lightweight load rejection mechanism 100 is as follows: the portable AUV comprises a mounting bracket 12, wherein the mounting bracket 12 is fixed on the stern part of the portable AUV101 through a bolt; the electromagnet packaging structure is characterized by further comprising an electromagnet packaging shell 2, a cylindrical electromagnet core 1 is mounted inside the electromagnet packaging shell 2 through a sealing ring 13, an electromagnet packaging end cover 3 is mounted on the electromagnet packaging shell 2 through the sealing ring 13, an electromagnet connecting stud 4 is connected between the electromagnet packaging end cover 3 and the cylindrical electromagnet core 1, and one side wall of the electromagnet packaging shell 2 is connected with the electromagnet; the pressure balance oil-filled hose 9, the end of the pressure balance oil-filled hose 9 installs the watertight plug 10, the pressure balance oil-filled hose 9 is fitted with the wire 15 connected with cylindrical electromagnetic core 1 inside; the bottom of cylindrical electromagnetic core 1 is provided with screw rod disc 6, and the screw rod part of screw rod disc 6 passes the bottom of electro-magnet encapsulation shell 2 to install a plurality of ballast circle lead blocks 7 on the screw rod, the cover has boosting spring 5 on electro-magnet encapsulation shell 2 and the screw rod of ballast circle lead block 7 top, and the cover has nut 14 on the screw rod of ballast circle lead block 7 below, and the externally mounted of ballast circle lead block 7 has throwing year stand pipe 8.
The middle part of the mounting bracket 12 is a flat cube structure, and folded plates are respectively extended from two ends of the mounting bracket 12.
The cylindrical electromagnetic iron core 1, the electromagnet packaging shell 2, the electromagnet packaging end cover 3, the pressure balance oil-filled hose 9, the watertight plug 10 and the sealing ring 13 form a watertight cavity, insulated hydraulic oil is filled in the watertight cavity, pressure balance inside and outside the watertight cavity is achieved through the pressure balance oil-filled hose 9, and insulation and pressure resistance of the cylindrical electromagnetic iron core 1 in an underwater environment are guaranteed.
The load rejection guide pipe 8 is of a hollow cylinder structure, the load rejection guide pipe 8 surrounds the ballast round lead block 7 and the electromagnet packaging shell 2 at the same time, the top of the load rejection guide pipe 8 is fixed with the mounting bracket 12, an opening is further formed above the load rejection guide pipe 8, and a pressure balance oil-filled hose 9 is installed at the opening.
The operation method of the portable light load rejection mechanism for the AUV comprises the following operation steps:
the round iron sheet 6 with the screw is contacted with the cylindrical electromagnetic iron core 1;
the portable AUV101 control system gives an instruction, the cylindrical electromagnetic iron core 1 is electrified to generate magnetic force, and the screw rod-containing round iron sheet 6 is adsorbed;
at the moment, the load rejection mechanism is in a working state, and the boosting spring 5 is in a compressed state;
when portable AUV101 launching operation needs emergent come-up, the electrical system crashes and cuts off the power supply, the unexpected condition of electric power exhaustion:
the cylindrical electromagnetic iron core 1 is powered off and loses magnetic force, the screw rod-carrying round iron sheet 6 and the ballast round lead block 7 connected in series slide out along the load rejection guide pipe 8 under the combined action of reverse thrust of the boosting spring 5 and the gravity of the ballast round lead block 7, the load rejection action is completed, and the portable AUV101 obtains extra positive buoyancy and floats to the water surface.
The portable light load rejection mechanism for the AUV has the following specific structure and functions:
the light load rejection mechanism 100 mainly comprises a cylindrical electromagnetic iron core 1, an electromagnet packaging shell 2, an electromagnet packaging end cover 3, an electromagnet connecting stud 4, a boosting spring 5, a round iron sheet with a screw rod 6, a ballast round lead block 7, a load rejection guide pipe 8, a pressure balance oil-filled hose 9, a watertight plug 10, a limiting cylindrical pin 11, a mounting bracket 12, a sealing ring 13 and other parts.
Wherein, a watertight cavity is formed by the cylindrical electromagnetic iron core 1, the electromagnet packaging shell 2, the electromagnet packaging end cover 3, the pressure balance oil-filled hose 9, the watertight plug 10 and the sealing ring 13. The inside of the cavity is filled with insulated hydraulic oil, pressure balance inside and outside the cavity is achieved through the pressure balance oil-filled hose 9, insulation and pressure resistance of the cylindrical electromagnetic iron core 1 in an underwater environment are guaranteed, the cylindrical electromagnetic iron core 1 is connected with the watertight plug 10 through the lead 15, and then the watertight cable is connected to the control system of the portable AUV 101.
The light load rejection mechanism 100 is installed in the stern area of the portable AUV101 through the installation support 12, and after the cylindrical electromagnetic iron core 1 is powered off, the screw rod-containing round iron sheet 6 and the ballast round lead block 7 are separated, so that the portable AUV101 is provided with reserve buoyancy.
The working principle of the light-duty load rejection mechanism 100 is as follows:
screw sections with screw rod round iron sheets 6 are connected with ballast round lead blocks 7 in series and then fixed by nuts 14, and then the screw sections are integrally inserted into the load rejection guide pipe 8, the screw rod round iron sheets 6 are in contact with the cylindrical electromagnetic iron core 1, the portable AUV101 control system gives instructions, the cylindrical electromagnetic iron core 1 is electrified to generate magnetic force, the screw rod round iron sheets 6 are adsorbed, the load rejection mechanism is in a working state, and the boosting spring 5 is in a compression state at the moment. When the portable AUV101 is launched into water, emergency floating, power failure of an electric control system, power exhaustion and other accidents are needed, the cylindrical electromagnetic iron core 1 is powered off and loses magnetic force, under the combined action of the reverse thrust of the boosting spring 5 and the gravity of the ballast round lead block 7, the screw rod-containing round iron sheet 6 and the ballast round lead block 7 connected in series with the screw rod-containing round iron sheet slide out along the load rejection guide pipe 8 to complete load rejection, and the portable AUV101 obtains extra positive buoyancy and floats to the water surface. The state after the load rejection operation is completed is shown in fig. 3 and 4.
For use when conveniently debugging, light-duty throwing year mechanism 100 can realize ballast circle lead 7 simulation installation when cylindrical electromagnet core 1 does not switch on, and throwing year 8 lower part has two earrings 16, and spacing cylindric lock 11 passes earring 16, blocks that the inside screw rod disc 6 of taking of throwing year guide tube 8, ballast circle lead 7 can not fall out, as shown in fig. 3.
Before the portable AUV101 is launched into water, the cylindrical electromagnetic iron core 1 is electrified, the limiting cylindrical pin 11 is pulled out, and the light load rejection mechanism 100 enters the working state again.
The portable AUV101 load rejection mechanism has the advantages that the portable AUV101 can meet the requirement for miniaturization of the load rejection mechanism only through oil filling and packaging by only one conventional cylindrical electromagnetic iron core, the device is simple in structure and small in size, can be conveniently arranged and used on an AUV with limited space, has the simulation installation function in an unpowered state, and has the characteristics of low power consumption, high safety redundancy and strong emergency capability in an electrified use state.
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 (6)
1. The utility model provides a portable AUV is with light-duty mechanism of throwing carrying, includes portable AUV (101), its characterized in that: light-duty throwing of fixed mounting carries mechanism (100) on portable AUV (101), the concrete structure of light-duty throwing carries mechanism (100) is: the portable AUV (101) comprises a mounting bracket (12), wherein the mounting bracket (12) is fixed on the stern part of the portable AUV (101) through a bolt; the electromagnetic packaging structure is characterized by further comprising an electromagnet packaging shell (2), wherein a cylindrical electromagnetic iron core (1) is installed inside the electromagnet packaging shell (2) through a sealing ring (13), an electromagnet packaging end cover (3) is also installed on the electromagnet packaging shell (2) through the sealing ring (13), an electromagnet connecting stud (4) is connected between the electromagnet packaging end cover (3) and the cylindrical electromagnetic iron core (1), and one side wall of the electromagnet packaging shell (2) is connected with the electromagnet connecting stud; the pressure balance oil-filled hose (9) is characterized in that a watertight plug (10) is installed at the end part of the pressure balance oil-filled hose (9), and a lead (15) connected with the cylindrical electromagnetic iron core (1) is installed inside the pressure balance oil-filled hose (9); the bottom of cylindrical electromagnetic core (1) is provided with takes screw rod disc (6), and the screw rod part of taking screw rod disc (6) passes the bottom of electro-magnet encapsulation shell (2) to install a plurality of ballast circle lead blocks (7) on the screw rod, the cover has boosting spring (5) on electro-magnet encapsulation shell (2) and the screw rod of ballast circle lead block (7) top, the cover has nut (14) on the screw rod of ballast circle lead block (7) below, the externally mounted of ballast circle lead block (7) has throwing load stand pipe (8).
2. The portable lightweight load rejection mechanism for an AUV as claimed in claim 1, wherein: the middle part of the mounting bracket (12) is of a flat cube structure, and folded plates are respectively extended from two ends of the mounting bracket (12).
3. The portable lightweight load rejection mechanism for an AUV as claimed in claim 1, wherein: cylindrical electromagnetic core (1), electro-magnet encapsulation shell (2), electro-magnet encapsulation end cover (3), pressure balance oil charge hose (9), watertight connector (10) and sealing washer (13) constitute a watertight cavity, be full of insulating hydraulic oil in the watertight cavity, utilize pressure balance oil charge hose (9) to realize the inside and outside pressure balance of watertight cavity, ensure that cylindrical electromagnetic core (1) is at the insulating and withstand voltage of environment under water.
4. The portable lightweight load rejection mechanism for an AUV as claimed in claim 1, wherein: the ballast round lead block is characterized in that the ballast guide pipe (8) is of a hollow cylinder structure, the ballast round lead block (7) and the electromagnet packaging shell (2) are surrounded by the ballast guide pipe (8), the top of the ballast guide pipe (8) is fixed with the mounting bracket (12), an opening is further formed in the upper portion of the ballast guide pipe (8), and a pressure balance oil-filled hose (9) is installed at the opening.
5. The portable lightweight load rejection mechanism for an AUV as claimed in claim 1, wherein: earrings (16) are arranged at the bottom of the load rejection guide pipe (8) at intervals, a limiting cylindrical pin (11) penetrates between the two earrings (16), and the limiting cylindrical pin (11) blocks the screw rod-containing round iron sheet (6) and the ballast round lead block (7).
6. An operation method of a portable light load rejection mechanism for an AUV is characterized in that: the method comprises the following operation steps:
the round iron sheet (6) with the screw rod is contacted with the cylindrical electromagnetic iron core (1);
the portable AUV (101) control system gives an instruction, the cylindrical electromagnetic iron core (1) is electrified to generate magnetic force, and the screw rod-containing round iron sheet (6) is adsorbed;
at the moment, the load rejection mechanism is in a working state, and the boosting spring (5) is in a compressed state;
when portable AUV (101) launch operation, need emergent come-up, electrical system crash outage, electric power exhaustion accident:
the cylindrical electromagnetic iron core (1) loses magnetic force when being powered off, under the combined action of the reverse thrust of the boosting spring (5) and the gravity of the ballast round lead block (7), the screw rod-containing round iron sheet (6) slides out along the ballast round lead block (7) connected in series to complete the load rejection action, and the portable AUV (101) obtains extra positive buoyancy and floats to the water surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210276607.7A CN114475994A (en) | 2022-03-21 | 2022-03-21 | Portable light load rejection mechanism for AUV (autonomous Underwater vehicle) and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210276607.7A CN114475994A (en) | 2022-03-21 | 2022-03-21 | Portable light load rejection mechanism for AUV (autonomous Underwater vehicle) and operation method |
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| Publication Number | Publication Date |
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| CN114475994A true CN114475994A (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210276607.7A Pending CN114475994A (en) | 2022-03-21 | 2022-03-21 | Portable light load rejection mechanism for AUV (autonomous Underwater vehicle) and operation method |
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| Country | Link |
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| CN (1) | CN114475994A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115303456A (en) * | 2022-10-11 | 2022-11-08 | 山东省科学院海洋仪器仪表研究所 | Reverse-pushing type emergency load rejection device for underwater vehicle |
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Application publication date: 20220513 |