CN114789773A - Marine unmanned ship collecting and releasing system based on four-degree-of-freedom hybrid mechanism - Google Patents
Marine unmanned ship collecting and releasing system based on four-degree-of-freedom hybrid mechanism Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
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Abstract
The invention discloses an offshore unmanned ship collecting and releasing system based on a four-degree-of-freedom hybrid mechanism, which comprises a two-degree-of-freedom hybrid mechanism parallel part, a two-degree-of-freedom hybrid mechanism series part and a lifting mechanism, wherein the parallel part comprises a first branch, a second branch, a third branch, a base and a follow-up platform, the second branch and the third branch are identical in structure, the first branch comprises a convex rotating pin shaft and a first branch driving structure, and the second branch and the third branch comprise a U-shaped universal joint, a branch driving structure and a semicircular universal joint; the series part mainly comprises a steering platform and a rotating arm; the lifting mechanism comprises a winch, a cable and a rolling ring. The unmanned ship collecting and releasing system takes four-freedom-degree hybrid mechanisms consisting of parallel parts and serial parts as supports, has the characteristics of large working range and strong bearing capacity, and can meet the requirement of high-efficiency collecting and releasing operation of large-scale heavy-load unmanned ships.
Description
Technical Field
The invention relates to the technical field of unmanned equipment deployment and recovery, in particular to a marine unmanned boat deploying and retracting system based on a four-degree-of-freedom hybrid mechanism.
Background
Vast and unbanded oceans contain abundant resources and have important value. The development of oceans, the development of oceanic economy and the oceanic industry are taken as important measures for national development in various countries in the world. In order to deeply develop ocean resources, ocean equipment in the world ahead is indispensable.
The unmanned ship is key equipment for competing for ocean development right, exploring ocean mineral resources, mapping submarine topography, exploring underwater targets and the like. Along with the high-speed development of scientific technology, an unmanned, intelligent and information equipment system becomes a development trend, at present, except for the development of a large unmanned ship with long endurance time, a large ship is taken as a mother ship to carry the unmanned ship, so that a new technical field is formed, but the unmanned ship depends on personnel assistance in the process of releasing and recovering the unmanned ship, so that the unmanned ship is difficult to be efficiently arranged and recovered at sea, the uncertainty of the unmanned ship is higher particularly under severe environment sea conditions, and more severe requirements are provided for the automation level and the reliability of the unmanned ship collecting and releasing technology.
In the existing unmanned boat deployment and recovery technology, related researchers provide various solutions, but the motion space and the working range of the generally designed retraction device are limited to a certain extent, so that the unmanned boat deployment and recovery operation cannot be efficiently carried out. For example, a comparison document CN201611056693.1 describes an underwater robot retraction system and a use method thereof, in which an a-shaped frame of the retraction system described in the comparison document can realize a pitching motion of the a-shaped frame around a hinge point of a base end through a swing oil cylinder, but a motion space range of the a-shaped frame is still limited, and thus, adjustment motions with multiple degrees of freedom, such as a yaw, a pitch, a heave and the like, cannot be provided for a deployment and recovery device well.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a marine unmanned ship collecting and releasing system based on a four-degree-of-freedom hybrid mechanism, which can provide multi-degree-of-freedom adjusting motion and improve the efficiency of unmanned ship distribution and recovery.
In order to achieve the purpose, according to the embodiment disclosed by the invention, the marine unmanned ship collecting and releasing system based on the four-degree-of-freedom hybrid mechanism comprises a hybrid mechanism and a lifting mechanism, wherein the hybrid mechanism consists of a parallel part and a series part;
the parallel connection part comprises a base fixed at the edge of the mother ship, three branch structures and a follow-up platform, the top ends of the three branch structures are connected with the follow-up platform, and the bottom parts of the three branch structures are arranged on the base; the three branch structures comprise a first branch, a second branch and a third branch, the second branch and the third branch are identical in structure, wherein the bottom of the first branch is provided with a convex rotating pin shaft, and the second branch and the third branch further comprise a U-shaped universal joint arranged at the bottoms of the first branch and the third branch and a semicircular universal joint arranged at the top end of the first branch and the third branch; under the combined action of the three branch structures, the follow-up platform can do adjustment motions of moving in the vertical direction and swinging on the left side and the right side;
the series connection part is arranged above the parallel connection part and comprises a steering platform arranged at the center of the follow-up platform and a rotating arm connected with the steering platform, and the rotating arm can swing in the vertical direction and also can rotate in the horizontal direction through the steering platform.
Preferably, the three branch structures comprise branch motors, branch cylinder barrels and branch moving rods sleeved in the branch cylinder barrels, and the branch moving rods reciprocate in the branch cylinder barrels in the vertical direction.
Preferably, the base is further provided with two other U-shaped universal joints respectively matched with the U-shaped universal joints at the bottoms of the second branch and the third branch, a group of matched U-shaped universal joints are connected in a cross shape, and the two other U-shaped universal joints are symmetrically arranged on the left side of the base.
Preferably, the semicircular universal joints are arranged at the top ends of the second branch moving rod and the third branch moving rod, the bottom end of the follow-up platform is also provided with another two semicircular universal joints respectively matched with the two semicircular universal joints, and a group of matched semicircular universal joints are connected in a cross shape.
Preferably, the convex rotating pin shaft is matched with a concave rotating pin shaft arranged on the base and connected with the concave rotating pin shaft through a cylindrical pin, and the concave rotating pin shaft is arranged on the right side of the base and forms an isosceles triangle with the other two U-shaped universal joints arranged on the left side of the base on the base.
Preferably, the serial part further comprises a steering motor A arranged on the steering platform and a steering motor B arranged at the starting end of the rotating arm, the steering platform is connected with the starting end of the rotating arm through a connecting piece, the starting end of the connecting piece is connected with the steering motor A, and the tail end of the connecting piece is connected with the steering motor B; the terminal fixed plate and visor that still are provided with of swinging boom, the swinging boom is terminal to be passed through the fixed plate with visor fixed connection.
Preferably, a gear sleeve is further arranged on the steering motor A, and the gear sleeve is meshed with a central gear of the steering platform.
Preferably, the lifting mechanism comprises a winch arranged on the mother ship, a rolling ring arranged at the tail end of the rotating arm and a cable wound around the rolling ring.
Preferably, the winch is arranged behind the series-parallel connection mechanism, and the rolling ring is arranged in a protective cover arranged at the tail end of the rotating arm.
Preferably, the system adopts a single-point suspension type folding and unfolding mode, and power is driven by a motor.
Compared with the prior art, the invention has the following remarkable advantages:
1. the parallel mechanism is combined with the parallel part and the serial part, the parallel part has high rigidity, can bear the upper serial part and the lifting mechanism, can realize multi-degree-of-freedom adjustment motions such as transverse swinging, longitudinal swinging, heave and the like, increases the working range, is suitable for adjusting the relative poses of a mother ship and an unmanned ship, and realizes the optimal capture space pose;
2. the unmanned ship can be ensured to be positioned in the capturing range of the hoisting device by matching the driving motor and the rotating arm, so that a working blind area is avoided;
3. the unmanned ship has high modularization degree, comprises a plurality of modularized devices such as a parallel part, a serial part, a winch and a rotating arm, and the like, wherein the modularized devices have independent functions, are convenient to maintain and detect, have wide application range and can be flexibly applied to unmanned ships with various sizes;
4. the invention adopts a single-point hanging type retracting and releasing form, has the functions of lifting, rotating and amplitude changing, is simple and quick in operation, has the characteristic of high reliability, realizes corresponding functions through simple mechanical motions of rotation, sliding and the like, has low failure rate and is suitable for offshore environment.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required by the present invention are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a structural diagram of a marine unmanned ship collecting and releasing system based on a four-degree-of-freedom hybrid mechanism.
Fig. 2 is a rotating structure diagram of a rotating platform of the offshore unmanned ship collecting and releasing system based on the four-degree-of-freedom hybrid mechanism.
Fig. 3 is a diagram of the initial working state of the marine unmanned ship collecting and releasing system based on the four-degree-of-freedom hybrid mechanism.
Fig. 4 is a diagram of a completely hoisting state of the unmanned maritime boat collecting and releasing system based on the four-degree-of-freedom hybrid mechanism.
FIG. 5 is a diagram of a state of placement of an unmanned maritime boat collecting and releasing system based on a four-degree-of-freedom hybrid mechanism.
The device comprises a base, a first branch motor, a first branch cylinder barrel, a first branch moving rod, a rotating pin shaft group, a second branch motor, a second branch cylinder barrel, a second branch moving rod, a first branch cylinder barrel, a second branch moving rod, a semicircular universal joint group, a 35-U-shaped universal joint group, a follow-up platform, a 5-steering platform, a 51-connecting piece, a 52-steering motor A, a 53-steering motor B, a 54-rotating arm, a 55-fixing plate, a 56-protective cover, a 6-winch, a 61-rolling ring, a 62-cable, a 63-unmanned aerial vehicle, a 64-lifting ring, a 7-mother ship and an 8-gear sleeve, wherein the base is arranged at the upper part of the base, the first branch, the second branch motor, the first branch cylinder barrel and the second branch cylinder barrel are arranged at the lower part of the base.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and fig. 2, the invention provides a marine unmanned ship collecting and releasing system based on a four-degree-of-freedom hybrid mechanism, which comprises a hybrid mechanism and a lifting mechanism, wherein the hybrid mechanism consists of a parallel part and a series part.
The parallel connection part comprises a base 1, a first branch 2, a second branch 3, a third branch and a follow-up platform 4 which are fixed on the edge of the mother ship 7, and the second branch 3 and the third branch are identical in structure. Wherein the first branch 2 comprises a first branch motor 21, a first branch cylinder 22 and a first branch moving rod 23. The first branch moving rod 23 is sleeved in the first branch cylinder 22 and reciprocates up and down by the energy provided by the first branch motor 21. The top end of the first branch moving rod 23 is connected with the bottom of the follow-up platform 4. The rotating pin shaft group 24 is arranged at the bottom of the first branch 2, and the middle axis of the rotating pin shaft group is parallel to the upper surface of the base 1 and is used as a rotating pair of the parallel connection part. The rotating pin shaft group 24 comprises a convex rotating pin shaft arranged at the bottom of the first branch 2 and a concave rotating pin shaft arranged on the base 1, and the convex rotating pin shaft and the concave rotating pin shaft are matched and movably connected through a cylindrical pin. The concave rotary pin shaft is fixed on the right side of the base 1 through a screw and can be generally fixed in the center of the rightmost side of the base 1.
Since the second branch 3 is identical to the third branch structure, only the second branch 3 structure will be described below. The second branch 3 comprises a second branch motor 31, a second branch cylinder 32 and a second branch movement rod 33. The second branch moving rod 33 is sleeved in the second branch cylinder 32 and reciprocates up and down by the energy provided by the second branch motor 31. And a semicircular universal joint group 34 is arranged between the top end of the second branch 3 and the follow-up platform 4, comprises two semicircular universal joints which are matched with each other and are respectively and fixedly connected to the top end of the second branch moving rod 33 and the bottom of the follow-up platform 4, and the two are connected in a cross shape. A U-shaped universal joint group 35 is also arranged between the base 1 and the bottom of the second branch 3, comprises two U-shaped universal joints which are matched with each other and are respectively and fixedly connected to the bottom of the second branch 3 and the upper surface of the base 1, and the two U-shaped universal joints are also connected in a cross shape. In this embodiment, two U-shaped universal joints disposed on the upper surface of the base 1 are disposed at the leftmost side of the base 1, and the two U-shaped universal joints are disposed in axial symmetry with a straight line where the concave rotating pin is disposed on the base 1, and form an isosceles triangle with the concave rotating pin. Meanwhile, the middle axis of the revolute pair of the U-shaped universal joint set 35 is parallel to the upper surface of the base 1.
Under the combined action of the three branch structures, the follow-up platform can perform adjustment motions of yaw, pitch and heave. In other words, the parallel portion of the parallel-serial mechanism has two degrees of freedom, which are a degree of freedom for movement in the vertical direction and a degree of freedom for rotation for swinging left and right sides, respectively. The parallel connection part has good rigidity, can bear the serial connection part and the lifting mechanism above, is suitable for adjusting the relative pose of the mother ship and the unmanned ship, and realizes the optimal capture space pose.
The series connection part is arranged above the parallel connection part and comprises a steering platform 5, a connecting piece 51, a steering motor A52, a steering motor B53 and a rotating arm 54, the bottom of the starting end of the connecting piece 51 is connected with the upper surface of the steering platform 5 through a bolt, the bottom of the tail end of the connecting piece is connected with the upper surface of the starting end of the rotating arm 54, the steering motor A52 is arranged at the top of the starting end of the connecting piece 51, the steering motor B53 is arranged at the top of the tail end of the connecting piece 51, and the rotating arm 54 can do swinging motion in the vertical direction under the driving of the steering motor B53. The fixing plate 55 is fixed at the end of the rotating arm 54 through a bolt, and the protective cover 56 is fixedly connected with the rotating arm 54 through the fixing plate 55. The steering platform 5 is arranged in the center of the follow-up platform 4, and the two sides of the steering platform are symmetrically distributed. A gear sleeve 8 is further arranged on a rotating shaft of the steering motor A52, the gear sleeve 8 is meshed with a central gear of the steering platform 5, and electric energy provided by the steering motor A52 drives the steering platform 5 to rotate in the horizontal direction through gear meshing transmission.
It can be seen that the serial part of the parallel-serial mechanism has two degrees of freedom, namely a horizontal rotational degree of freedom and a vertical swinging rotational degree of freedom. The series connection part has the function of enlarging the working space, the unmanned ship fluctuates along with sea waves due to ocean current movement on the sea surface, and the unmanned ship can be ensured to be positioned in the capturing range of the hoisting device through the matching use of the driving motor and the rotating arm, so that the generation of working blind areas is avoided
In summary, the series-parallel mechanism provides four degrees of freedom of mechanical motion for the present invention.
As shown in fig. 3, the lifting mechanism of the present invention includes a winch 6 disposed on the mother ship 7, a rolling ring 61 disposed in the protective cover 56, and a cable 62 passing around the rolling ring 61, wherein the winch 6 is disposed behind the hybrid mechanism, and when the lifting mechanism is operated, the cable 63 can be manually tied in a circular hanging ring 64 on the side of the unmanned boat 63, or a fixed hook at the end of the cable 62 can be sleeved in the hanging ring 64, and the unmanned boat 63 can be lifted and lowered by the extension and contraction of the cable 62 through the forward and reverse rotation of the winch 6, so as to achieve the effect of deployment and recovery. Meanwhile, the fixed hook claw can be flexibly applied to unmanned boats of various sizes, and the application range is wide.
In other possible embodiments, the cable and the steel wire cable can be simultaneously put down, and a mechanical gripper or a magnetic suction cup is additionally arranged at the tail end of the hoisting and putting equipment, so that the unmanned boat can be fixed more conveniently and efficiently.
The invention adopts a single-point hanging type folding and unfolding mode, and the power is driven by a motor. The single-point hanging type retraction has the functions of lifting, rotating and amplitude changing, and has the characteristics of simple and quick operation. Meanwhile, in order to improve the stability of the unmanned ship in the lifting operation process, in other possible embodiments, designs such as a wave compensation device and an anti-shaking device can be added.
The recovery work of the invention is mainly divided into three working conditions: initial working state, lifting state and placing state, and the steps are initial working state → lifting state → placing state.
In the initial working state, as shown in fig. 3, the mother ship 7 carrying the present invention is parked in the sea area near the facilities of the unmanned boat 63, and the hybrid mechanism is operated to rotate the rotating arm 54 to a position right above the unmanned boat 63 by the steering motor B53, and the cable 62 is lowered. The winch 6 on the mother ship 7 starts to work, the cable 62 is laid through the rolling ring 61, and the cable 62 is hung in the hull of the unmanned boat 63 and is used for being fixedly connected with the unmanned boat 63. Aiming at the offshore unmanned ship 63 equipment, the four corners of the ship body of the offshore unmanned ship are provided with annular hanging rings 64, and the annular hanging rings 64 are mainly used for being fixedly connected with the mooring rope 62. The head end of the cable 62 is connected with the unmanned boat 63, and the tail end of the cable is converged above the unmanned boat 63 to form a node for convenient hoisting.
In the lifted state, as shown in fig. 4, after the unmanned boat 63 is fixedly connected to the cable 62, the winch 6 rotates to drive the cable 62 to be recovered. At this time, the winch 6 should not rotate too fast, and the speed is controlled properly to ensure that the unmanned boat 63 is lifted and placed relatively smoothly. As the rotating cables 62 of the winches 6 assume a tensioned state, the unmanned boat 63 is continuously pulled upwards until the bottom of the unmanned boat 63 is pulled up by a distance exceeding the level of the hull of the mother ship 7, so as to subsequently hoist the unmanned boat 63 onto the mother ship 7.
The placing state is shown in fig. 5, after the unmanned boat 63 is lifted to the corresponding height, the winch 6 is suspended to be in a braking state, so as to prevent the cable 62 from slipping down to cause the unmanned boat 63 to fall or shake. At this time, the turning motor a 52 starts to operate, and the turning direction is directed from the outside of the hull of the mother ship 7 toward the inside of the hull. When the entire hull of unmanned boat 63 is placed above the deck of mother ship 7, winch 6 is again activated and cable 62 is lowered until unmanned boat 63 is within the storage area of mother ship 7. So far, the above process completes the recovery of the unmanned boat 63.
The operation of laying the unmanned boat 63 is a reverse operation process of recovery.
Of course, the above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. The lifting device 5 can also be other structures which can finish amphibious flight and landing, such as an inflatable and deflatable air cushion and the like. All the equivalent structures or equivalent processes performed by using the contents of the specification and the drawings of the present invention, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of this description, will appreciate that other embodiments can be devised which do not depart from the scope of the invention as described herein. Moreover, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. The present invention has been disclosed in an illustrative rather than a restrictive sense, and the scope of the present invention is defined by the appended claims.
Claims (10)
1. The utility model provides an unmanned ship receive and releases system at sea based on four degrees of freedom series-parallel connection mechanisms which characterized in that: comprises a parallel-serial mechanism and a lifting mechanism, wherein the parallel-serial mechanism consists of a parallel part and a serial part;
the parallel connection part comprises a base fixed at the edge of the mother ship, three branch structures and a follow-up platform, the top ends of the three branch structures are connected with the follow-up platform, and the bottoms of the three branch structures are arranged on the base; the three branch structures comprise a first branch, a second branch and a third branch, the second branch and the third branch are identical in structure, wherein the bottom of the first branch is provided with a convex rotating pin shaft, and the second branch and the third branch further comprise a U-shaped universal joint arranged at the bottoms of the first branch and the third branch and a semicircular universal joint arranged at the top end of the first branch and the third branch; under the combined action of the three branch structures, the follow-up platform can do adjustment motions of moving in the vertical direction and swinging on the left side and the right side;
the series connection part is arranged above the parallel connection part and comprises a steering platform arranged at the center of the follow-up platform and a rotating arm connected with the steering platform, and the rotating arm can swing in the vertical direction and can also rotate in the horizontal direction through the steering platform.
2. The offshore unmanned ship retracting system based on the four-degree-of-freedom hybrid mechanism according to claim 1, characterized in that: the three branch structures comprise branch motors, branch cylinder barrels and branch moving rods sleeved in the branch cylinder barrels, and the branch moving rods reciprocate in the branch cylinder barrels in the vertical direction.
3. The offshore unmanned ship retracting system based on the four-degree-of-freedom hybrid mechanism according to claim 2, characterized in that: still be provided with on the base with the U type universal joint of second branch, third branch bottom respectively two other U type universal joints of looks adaptation, present "ten" style of calligraphy between a set of U type universal joint of looks adaptation and connect, two other U type universal joints symmetry set up in the base left side.
4. The offshore unmanned ship retracting system based on the four-degree-of-freedom hybrid mechanism according to claim 3, characterized in that: the semicircular universal joints are arranged at the top ends of the second branch moving rod and the third branch moving rod, the bottom end of the follow-up platform is also provided with another two semicircular universal joints respectively matched with the two semicircular universal joints, and a group of matched semicircular universal joints are connected in a cross shape.
5. The unmanned boat picking and laying system on sea based on four-degree-of-freedom hybrid mechanism of claim 4 is characterized in that: the convex rotating pin shaft is matched with a concave rotating pin shaft arranged on the base and connected with the concave rotating pin shaft through a cylindrical pin, and the concave rotating pin shaft is arranged on the right side of the base and forms an isosceles triangle with the other two U-shaped universal joints arranged on the left side of the base on the base.
6. The marine unmanned ship retraction system based on the four-degree-of-freedom hybrid mechanism as claimed in claim 1, wherein: the series part also comprises a steering motor A arranged on the steering platform and a steering motor B arranged at the starting end of the rotating arm, the steering platform is connected with the starting end of the rotating arm through a connecting piece, the starting end of the connecting piece is connected with the steering motor A, and the tail end of the connecting piece is connected with the steering motor B; the terminal fixed plate and the visor of still being provided with of swinging boom, the swinging boom is terminal to be passed through the fixed plate with visor fixed connection.
7. The unmanned boat picking and laying system on sea based on four-degree-of-freedom hybrid mechanism of claim 6 is characterized in that: the steering motor A is also provided with a gear sleeve, and the gear sleeve is meshed with a central gear of the steering platform.
8. The marine unmanned boat retraction system based on the four-degree-of-freedom hybrid mechanism according to any one of claims 1 to 7, wherein: the lifting mechanism comprises a winch arranged on the mother ship, a rolling ring arranged at the tail end of the rotating arm and a cable winding around the rolling ring.
9. The offshore unmanned ship retracting system based on the four-degree-of-freedom hybrid mechanism according to claim 8, characterized in that: the winch is arranged behind the series-parallel mechanism, and the rolling ring is arranged in a protective cover arranged at the tail end of the rotating arm.
10. The offshore unmanned ship retracting system based on the four-degree-of-freedom hybrid mechanism according to claim 8, characterized in that: the system adopts a single-point hanging type retractable form, and the power is driven by a motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210440680.3A CN114789773B (en) | 2022-04-25 | Marine unmanned ship receive and releases system based on four degrees of freedom series-parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210440680.3A CN114789773B (en) | 2022-04-25 | Marine unmanned ship receive and releases system based on four degrees of freedom series-parallel mechanism |
Publications (2)
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| CN114789773A true CN114789773A (en) | 2022-07-26 |
| CN114789773B CN114789773B (en) | 2024-06-28 |
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| US10766579B1 (en) * | 2018-04-09 | 2020-09-08 | The United States Of America As Represented By The Secretary Of The Navy | Passive heave compensated davit |
| CN110203335A (en) * | 2019-06-03 | 2019-09-06 | 浙江理工大学 | A kind of unmanned surface vehicle voluntary recall device |
| WO2022031165A1 (en) * | 2020-08-03 | 2022-02-10 | Ampelmann Holding B.V. | A telescopic gangway, a motion compensated gangway and a vessel |
| CN114194337A (en) * | 2021-12-13 | 2022-03-18 | 大连海事大学 | Can restrain wobbling cloth of ROV and put recovery unit |
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