CN1532133A - Self winding type umbilical cable winding and releasing device without slide ring - Google Patents
Self winding type umbilical cable winding and releasing device without slide ring Download PDFInfo
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- CN1532133A CN1532133A CNA031112218A CN03111221A CN1532133A CN 1532133 A CN1532133 A CN 1532133A CN A031112218 A CNA031112218 A CN A031112218A CN 03111221 A CN03111221 A CN 03111221A CN 1532133 A CN1532133 A CN 1532133A
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Abstract
The self-winding type umbilical cable winding and unwinding deice without slide ring for use in underwater environment consists of mainly fixed cable winding disc, main drive unit, static base disc, brake disc, brake belt, support wheel, turning disc, tension controller, pressing arm, cable driving wheel, cable driving gear box, bearing plate, planetary gear, winding arm, central double gear, central conic gear, cable guide tube, bearing sleeve, small gear, etc. Its kernel driving part is a planetary driving mechanism comprising the small gear on the central double gear as small sun wheel, turning disc as planetary frame, cable driving wheel and the planetary gear to constitute the double planetary wheel and umbilical cable as large sun wheel, with the umbilical cable being friction driven with the cable driving wheel. The present invention is suitable for light underwater robot.
Description
Technical field
The present invention relates to Robotics, the no slip ring self-wrapping type umbilical cable draw off gear of operation is applicable to the folding and unfolding of light-duty under-water robot umbilical cable in particularly a kind of underwater environment.
Background technology
Under-water robot is the specialized robot of operation in a kind of environment under water, the cable remote underwater robot that has as main branch in the under-water robot family, during its under-water operation, require whenever and wherever possible, folding and unfolding umbilical cable extremely continually, to guarantee under-water robot operation efficiently and safely, so classify the folding and unfolding technology of umbilical cable as key in the Robotics under water.At present, for light-duty under-water robot, generally adopt electronic (surging) cable winch that must dispose conducting slip ring or photoelectricity slip ring to finish the folding and unfolding of umbilical cable, as everyone knows, conducting slip ring, especially the photoelectricity slip ring all belongs to the multiple faults parts, is again the pass heavy mail as throat, its whether reliable reliability that directly influences under-water robot.
Summary of the invention
In order to overcome of the harmful effect of existing umbilical cable folding and unfolding technology to the reliability of under-water robot,, retractable cable pulling force features of smaller little at light-duty under-water robot umbilical cable diameter the purpose of this invention is to provide a kind of no slip ring self-wrapping type umbilical cable draw off gear.
To achieve these goals, technical solution of the present invention is as follows: mainly be made up of fixedly cable winding disk, main drive, quiet chassis, brake disc, brake collar, support wheel, rotary disk, Tension Control wheel, clamping arm, cable drive wheel, cable drive gear case, stay bearing plate, planetary wheel, winding arm, center dual gear, center bevel gear, cable guide pipe, bearing carrier ring and miniature gears etc., be specially:
Described fixedly cable winding disk is positioned at complete machine bottom, and quiet chassis connects firmly on fixing cable winding disk top;
Described brake disc installs and fixes with quiet chassis is coaxial, and inside is cavity structure, ccontaining miniature gears and center dual gear in it;
The same axle mounting of described rotary disk and brake disc, hole and bearing carrier ring external diameter transition fit within the hollow shaft of rotary disk lower lobes;
The hollow shaft of described center bevel gear lower part is as the axis of revolution of rotary disk, its external diameter and bearing carrier ring endoporus running-fit, and be fixed on the quiet chassis;
Described center dual gear is installed on the hollow shaft of rotary disk lower lobes with the form of running-fit, and with the brake disc coaxial line;
Described planetary wheel connects with the input shaft of cable drive gear case, and is meshed with the upper pinion of center dual gear;
Described miniature gears connects with output shaft on the main drive, and is meshed with the bottom big gear wheel of center dual gear;
Described brake collar is installed on the brake disc cylindrical, and two ratchets are housed on brake collar; Ratchet is the annular arrangement thin-belt type, and ratchet is fixed on the rotary disk cylindrical down, and two ratchets on ratchet and the brake collar are formed ratchet device;
Described at least three support wheels by the five equilibrium angle be installed on the rotary disk near the outer rim place, rotary disk when revolution support wheel rolls at the brake disc upper surface;
Described Tension Control wheel, clamping arm and cable drive wheel all are installed on two stay bearing plates of rotary disk top by their bearing pins separately, and cable drive gear case and winding arm also are fixed on the stay bearing plate, and stay bearing plate is vertically fixed on the rotary disk top; The Tension Control wheel is sandwiched in them between the two with the cable drive wheel with umbilical cable; On the clamping arm of top two contact rollers are housed, an end of its compensator spring links to each other with clamping arm, and the other end hangs on the stay bearing plate; The output shaft of cable drive gear case also is the bearing pin of cable drive wheel;
The described winding arm first half is a guide pipe, and lower part is a track adjusting wheel, and guide wheel shaft is supported by two blocks of parallel plates, and these two blocks of parallel plates and guide pipe are fixed together;
Described umbilical cable enters the cable guide pipe by fixing cable winding disk bottom centre, pass the center bevel gear centre hole, continue upwards by Tension Control wheel and cable drive wheel institute clip space, be wrapped in the cable drive wheel then and go up and deliver to the guide pipe that twines arm, after the track adjusting wheel of twining arm, be wrapped on the external diameter of fixing cable winding disk;
With center dual gear upper pinion as small sun gear, rotary disk is as the star frame, and cable drive wheel and planetary wheel constitute double-planetary gear, and umbilical cable is as big sun wheel, constitute epicyclic transmission mechanism, wherein umbilical cable adopts fricting transmissioning mode to contact with the cable drive wheel; Planetary wheel and cable drive gearbox input shaft binding, the output shaft of cable drive gear case also is the bearing pin of cable drive wheel, the cable drive gear case is that a gear-stage velocity ratio is 1 bevel gear housing, with cable drive wheel and planetary wheel is double-planetary gear, and wherein the datum diameter of cable drive wheel is bigger 1 times than planetary reference diameter; Tension Control wheel is non-runner, and the supported hole of its bearing pin on two stay bearing plates is slotted hole, makes the adjustable center distance that Tension Control wheel and cable drive are taken turns; Clamping arm is pressed in umbilical cable in the cable duct of cable drive wheel by its two contact rollers under its compensator spring effect; Described brake collar is annular arrangement and place's hatch frame; Described support wheel is made up of wheel carrier, roller and roller shaft, wheel carrier by the five equilibrium angle be installed on the rotary disk near the outer rim place, roller can rotate around roller shaft, support wheel rolls at the brake disc upper surface when rotary disk turns round; Main drive is installed on the quiet chassis, comprises drive motor and main gear reducer, and the main shaft of described drive motor is by main gear reducer and miniature gears binding; Center bevel gear is fixed on the quiet chassis, and the hollow shaft of its lower part is as the axis of revolution of rotary disk, and the bevel gear driving on its top is from the rotating together cable-remover of rotary disk; Integral body is vertical structure, also can become suspension type behind the configuration outside frame.
The present invention has following advantage:
The present invention has successfully solved the technical barrier of the draw off gear of no slip ring version, avoided conducting slip ring, especially the photoelectricity slip ring all belongs to the use of multiple faults parts, strengthened the reliability of under-water robot greatly, failure free time reaches more than 480 hours continuously, and prolonged service life, can be on active service continuously up to 15 years.Employing the invention enables the folding and unfolding technology of light-duty under-water robot umbilical cable to realize the leap progress of no slip ringization.
Description of drawings
Fig. 1 is apparatus of the present invention structure diagram.
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in further details.
As shown in Figure 1, constructional feature is not have conducting slip ring or photoelectricity slip ring, and integral body is vertical structure, also can become suspension type behind the configuration outside frame; Mainly by fixing cable winding disk 1, main drive 2, quiet chassis 3, brake disc 4, brake collar 5, support wheel 7, rotary disk 8, Tension Control wheel 9, clamping arm 10, cable drive wheel 11, cable drive gear case 12, stay bearing plate 13, planetary wheel 14, twine arm 15, center dual gear 16, center bevel gear 17, cable guide pipe 18, bearing carrier ring 22 and miniature gears 23 and form, wherein:
Fixedly cable winding disk 1 promptly as the fixedly support of device again as the storage space of umbilical cable, be positioned at the complete machine bottom; Quiet chassis 3 connects firmly on fixing cable winding disk 1 top.Brake disc 4 is screwed on the top on quiet chassis 3, and inside is cavity structure, installs and motion space for miniature gears 23 and center dual gear 16 provide.Rotary disk 8 is installed in brake disc 4 tops, hole and bearing carrier ring 22 external diameter transition fit within the hollow shaft of rotary disk 8 lower lobes.Center bevel gear 17 is screwed on quiet chassis 3, and the hollow shaft of its lower part is as the axis of revolution of rotary disk 8, and its external diameter and bearing carrier ring 22 endoporus running-fits are so that rotary disk 8 turns round around center bevel gear 17 together with bearing carrier ring 22.Center dual gear 16 is installed on the hollow shaft of rotary disk 8 lower lobes the asynchronous revolution of rotary disk 8 and center dual gear 16 when working with assurance device with the form of running-fit.Fixedly cable winding disk 1, quiet chassis 3, brake disc 4, rotary disk 8 are same axle mounting with brake disc, center dual gear 16 and center bevel gear 17.Output shaft key joint on the input shaft key joint of planetary wheel 14 and cable drive gear case 12, and be meshed, miniature gears 23 and main drive 2 with the upper pinion of center dual gear 16, and be meshed with the bottom big gear wheel of center dual gear 16.Brake collar 5 is installed on brake disc 4 cylindricals, its structure is annular arrangement and place's opening, opening part is equipped with the adjusting bolt, the size of regulating opening can be adjusted the friction force of 5 of brake disc 4 and brake collars, thereby guarantee when cable laying two ratchet (not shown) are equipped with in the control of umbilical cable 19 tension force on brake collar 5; Ratchet 6 is the annular arrangement thin-belt type, and ratchet is screwed down on rotary disk 8 cylindricals, and two ratchets on ratchet 6 and the brake collar 5 are formed ratchet device; During take-up, ratchet and ratchet place disengaged condition, rotary disk 8 forwards (overlooking cw) revolution, brake collar 5 keeps static, during cable laying, ratchet and ratchet place connect state, rotary disk 8 reversed turnings, and drive brake collar 5 and turn round synchronously, the friction that control brake dish 4 and brake collar are 5 can reach the purpose of controlling umbilical cable 19 tension force.Four support wheels 7 are made up of wheel carrier, roller and roller shaft, wheel carrier by the five equilibrium angle with screw be installed on the rotary disk 8 near the outer rim place, roller can rotate around roller shaft, and support wheel 7 rolls at brake disc 4 upper surfaces when rotary disk 8 revolutions, plays the surface bearing effect.It is on the rotary disk 8 that two stay bearing plate 13 usefulness screws are vertically fixed on, and forms a stable framework, takes turns provide the structural supports such as 11 cable drive gears case 12 and winding arm 15 for Tension Control wheel 9, clamping arm 10, cable drive.Tension Control wheel 9 and cable drive wheel 11 are sandwiched in them between the two with umbilical cable 19, cable drive is taken turns 11 frictionallies and is driven umbilical cable 19, on the clamping arm 10 of top two contact rollers are housed positive pressure is provided, the tension force of Tension Control wheel 9 control umbilical cables 19, Tension Control wheel 9 is non-runners, the supported hole of its bearing pin on two stay bearing plates 13 is slotted hole, make Tension Control wheel 9 and cable drive take turns 11 adjustable center distance, the size that changes this width between centers can change the tension force of umbilical cable 19.The output shaft of cable drive gear case 12 also is the bearing pin of cable drive wheel 11,11 revolutions of direct drive cable drive wheel.Twining arm 15 first halves is guide pipe, and lower part is a track adjusting wheel, and guide wheel shaft is supported by two blocks of parallel plates, and these two blocks of parallel plates are fixed together with screw and guide pipe, twines arm 15 and turns round synchronously with rotary disk 8, and its effect is to carry out guiding and winding.Umbilical cable 19 enters cable guide pipe 18 by fixing cable winding disk 1 bottom centre, pass center bevel gear 17 centre holes, continue upwards by 11 clip spaces of Tension Control wheel 9 and cable drive wheel, be wrapped in the guide pipe that cable drive is taken turns on 11 and delivered to winding arm 15 then, after the track adjusting wheel of twining arm 15, be wrapped on the external diameter of fixing cable winding disk 1.
The transmission of device is based on gear transmission, main drive 2 takes turns 11 with power and Motion Transmission to cable drive through miniature gears 23, center dual gear 16, planetary wheel 14 and cable drive gear case 12, and cable drive wheel 11 drives umbilical cables 19 do turnover and moves.
Core running part of the present invention is actually epicyclic transmission mechanism.With center dual gear 16 upper pinion as small sun gear, rotary disk 8 is as the star frame, cable drive wheel 11 and planetary wheel 14 constitute double-planetary gear, umbilical cable 19 is as big sun wheel, constitute epicyclic transmission mechanism, wherein umbilical cable 19 and cable drive wheel 11 adopts fricting transmissioning mode.
The principle of work explanation:
Realization umbilical cable folding and unfolding operation will be finished two motions simultaneously, and the one, move by the cables turnover that cable drive wheel 11 drives, the 2nd, the cable of rotary disk 8 drivings is along device central axis revolution twining movement.The present invention has adopted the planetary transmission technology, dual gear 16 upper pinion in center are as small sun gear, rotary disk 8 is as the star frame, cable drive wheel 11 is driven by planetary wheel 14, can think that also cable drive wheel 11 and planetary wheel 14 are double-planetary gears, although through a gear-stage velocity ratio be 1 bevel drive, but just changed the transmission axis direction, do not change the positive and negative of mechanism, because the basic circle diameter of cable drive wheel 11 is bigger 1 times than the reference diameter of planetary wheel 14, so the linear velocity of the basic circle of cable drive wheel 11 is bigger 1 times than the linear velocity of the reference circle of planetary wheel 14 under the situation that cireular frequency does not become.Owing to adopt the tension force of brake disc 4 and brake collar 5 control umbilical cables 19 when adopting the tension force of Tension Control wheel 9 control umbilical cables 19 and cable laying during take-up, under cable drive wheel 11 and umbilical cable 19 nonslipping situations, then can regard umbilical cable 19 as big sun wheel, be that big sun wheel and satellite gear have adopted frictional transmission.Say that on the whole under the constant cooling diameter in other words of winding layer unmodified situation, said mechanism can regard that 2K-H type, engagement system are the planetary transmission of NW as.Become in the big process of layer cooling diameter change in other words when twining, under rotary disk 8 speed of revolutions unmodified situations, owing to be wrapped in the traction (because same twine to enclose cable elongated) of the umbilical cable on the fixing cable winding disk 1, the rotating speed of cable drive wheel 11 will increase, and mechanism becomes the differential gear train that is applicable to the synthetic speed change of motion.
Be further to set forth principle of work of the present invention, existing operation with device is divided into reclaiming and emitting two states and further specifies respectively.
When device carries out umbilical cable 19 recovery operations, the forward rotation of cable drive wheel 11 drives that umbilical cable 19 is entered by fixing cable winding disk 1 bottom centre and the guide pipe through twining arm 15 and track adjusting wheel are delivered to fixedly above cable winding disk 1 external diameter, turn round around central axis forward together (overlooking cw) simultaneously by rotary disk 8 and the winding arm 15 that is installed on it etc., after rotary disk circles for 8 times, cable drive wheel 11 cable lengths that take in equal the cable length that encloses around cable one on fixing cable winding disk 1, Tension Control wheel 9 compresses umbilical cable 19 to produce enough tension force, to guarantee the normal operation of mechanism.Be installed on the rotary disk 8 the cable-remover (not shown) through and center bevel gear 17 engagement, rotary disk 8 circles for every time, (descend) cable of motion on the cable-remover directly, umbilical cable 19 is arranged in good orderly on the external diameter of fixing cable winding disk 1.In order to guarantee to have enough friction force when cable drive is taken turns 11 folding and unfolding umbilical cables 19, two contact rollers of clamping arm 10 act on the umbilical cable 19 with suitable pressure, prevent that simultaneously umbilical cable 19 goes out groove when takeing in.
Carry out umbilical cable when emitting operation at device, the reverse rotation of cable drive wheel 11 drives umbilical cable 19 and emits, simultaneously by rotary disk 8 and the winding arm 15 that is installed on it etc. around central axis reversed turning together, and the brake collar 5 common reversed turnings that drive the ratchet (not shown) and combine as a whole with ratchet by ratchet 6, umbilical cable 19 is torn open around pulling out from fixing cable winding disk 1.For making the normal operation of mechanism, the increase of rotating disk 8 rotating speeds that the friction force by regulating brake collar 5 and 4 of brake discs causes owing to the reason of inertia with restriction, thus guarantee that umbilical cable 19 has enough tension force and acts on cable drive and take turns on 11.The main effect of cable guide pipe 18 in the central axis bottom of device be for prevent umbilical cable 19 when emitting in device interior curve and accumulation.
Claims (10)
1. no slip ring self-wrapping type umbilical cable draw off gear, it is characterized in that: mainly by fixing cable winding disk (1), main drive (2), quiet chassis (3), brake disc (4), brake collar (5), support wheel (7), rotary disk (8), Tension Control wheel (9), clamping arm (10), cable drive wheel (11), cable drive gear case (12), stay bearing plate (13), planetary wheel (14), twine arm (15), center dual gear (16), center bevel gear (17), cable guide pipe (18), bearing carrier ring (22) and miniature gears (23) etc. and form, be specially:
Described fixedly cable winding disk (1) is positioned at complete machine bottom, and quiet chassis (3) connect firmly on fixing cable winding disk (1) top;
Described brake disc (4) and coaxial the installing and fixing in quiet chassis (3), inside is cavity structure, ccontaining miniature gears (23) and center dual gear (16) in it;
Described rotary disk (8) and the same axle mounting of brake disc (4), hole and bearing carrier ring (22) external diameter transition fit within the hollow shaft of rotary disk (8) lower lobes;
The hollow shaft of described center bevel gear (17) lower part is as the axis of revolution of rotary disk (8), its external diameter and bearing carrier ring (22) endoporus running-fit, and be fixed on the quiet chassis (3);
Described center dual gear (16) is installed on the hollow shaft of rotary disk (8) lower lobes with the form of running-fit, and with brake disc (4) coaxial line;
Described planetary wheel (14) connects with the input shaft of cable drive gear case (12), and is meshed with the upper pinion of center dual gear (16);
Described miniature gears (23) connects with output shaft on the main drive (2), and is meshed with the bottom big gear wheel of center dual gear (16);
Described brake collar (5) is installed on brake disc (4) cylindrical, and two ratchets are housed on brake collar (5); Ratchet (6) is the annular arrangement thin-belt type, and ratchet is fixed on rotary disk (8) cylindrical down, and two ratchets on ratchet (6) and the brake collar (5) are formed ratchet device;
Described at least three support wheels (7) by the five equilibrium angle be installed on the rotary disk (8) near the outer rim place, rotary disk (8) when revolution support wheel (7) rolls at brake disc (4) upper surface;
Described Tension Control wheel (9), clamping arm (10) and cable drive wheel (11) all are installed on two stay bearing plates (13) of rotary disk (8) top by their bearing pins separately, cable drive gear case (12) and winding arm (15) also are fixed on the stay bearing plate (13), and stay bearing plate (13) is vertically fixed on rotary disk (8) top; Tension Control wheel (9) is sandwiched in them between the two with cable drive wheel (11) with umbilical cable (19); On the clamping arm (10) of top two contact rollers are housed, an end of its compensator spring links to each other with clamping arm (10), and the other end hangs on the stay bearing plate (13); The output shaft of cable drive gear case (12) also is the bearing pin of cable drive wheel (11);
Described winding arm (15) first half is a guide pipe, and lower part is a track adjusting wheel, and guide wheel shaft is supported by two blocks of parallel plates, and these two blocks of parallel plates and guide pipe are fixed together;
Described umbilical cable (19) enters cable guide pipe (18) by fixing cable winding disk (1) bottom centre, pass center bevel gear (17) centre hole, continue upwards by Tension Control wheel (9) and cable drive wheel (11) institute clip space, be wrapped in cable drive wheel (11) then and go up and deliver to the guide pipe that twines arm (15), after the track adjusting wheel of twining arm (15), be wrapped on the external diameter of fixing cable winding disk (1).
2. according to the described no slip ring self-wrapping type umbilical cable draw off gear of claim 1, it is characterized in that: with center dual gear (16) upper pinion as small sun gear, rotary disk (8) is as the star frame, cable drive wheel (11) and planetary wheel (14) constitute double-planetary gear, umbilical cable (19) is as big sun wheel, constitute epicyclic transmission mechanism, wherein umbilical cable (19) adopts fricting transmissioning mode to contact with cable drive wheel (11).
3. according to the described no slip ring self-wrapping type umbilical cable draw off gear of claim 1, it is characterized in that: planetary wheel (14) and cable drive gear case (12) input shaft binding, the output shaft of cable drive gear case (12) also is the bearing pin of cable drive wheel (11), cable drive gear case (12) is that a gear-stage velocity ratio is 1 bevel gear housing, with cable drive wheel (11) and planetary wheel (14) is double-planetary gear, and wherein the datum diameter of cable drive wheel (11) is bigger 1 times than the reference diameter of planetary wheel (14).
4. according to the described no slip ring self-wrapping type umbilical cable draw off gear of claim 1, it is characterized in that: Tension Control wheel (9) is non-runner, the supported hole of its bearing pin on two stay bearing plates (13) is slotted hole, makes Tension Control wheel (9) and cable drive take turns the adjustable center distance of (11).
5. according to the described no slip ring self-wrapping type umbilical cable draw off gear of claim 1, it is characterized in that: clamping arm (10) is pressed in umbilical cable (19) in the cable duct of cable drive wheel (11) by its two contact rollers under its compensator spring effect.
6. according to the described no slip ring self-wrapping type umbilical cable draw off gear of claim 1, it is characterized in that: described brake collar (5) is annular arrangement and place's hatch frame.
7. according to the described no slip ring self-wrapping type umbilical cable draw off gear of claim 1, it is characterized in that: described support wheel (7) is made up of wheel carrier, roller and roller shaft, wheel carrier by the five equilibrium angle be installed on the rotary disk (8) near the outer rim place, roller can rotate around roller shaft, and support wheel (7) rolls at brake disc (4) upper surface when rotary disk (8) turns round.
8. according to the described no slip ring self-wrapping type umbilical cable draw off gear of claim 1, it is characterized in that: main drive (2) is installed on the quiet chassis (3), comprise drive motor and main gear reducer, the main shaft of described drive motor is by main gear reducer and miniature gears (23) binding.
9. according to the described no slip ring self-wrapping type umbilical cable draw off gear of claim 1, it is characterized in that: center bevel gear (17) is fixed on the quiet chassis (3), the hollow shaft of its lower part is as the axis of revolution of rotary disk (8), and the bevel gear driving on its top is from the rotating together cable-remover of rotary disk (8).
10. according to the described no slip ring self-wrapping type umbilical cable draw off gear of claim 1, it is characterized in that: whole is vertical structure, also can become suspension type behind the configuration outside frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03111221 CN1256263C (en) | 2003-03-21 | 2003-03-21 | Self winding type umbilical cable winding and releasing device without slide ring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03111221 CN1256263C (en) | 2003-03-21 | 2003-03-21 | Self winding type umbilical cable winding and releasing device without slide ring |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1532133A true CN1532133A (en) | 2004-09-29 |
| CN1256263C CN1256263C (en) | 2006-05-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03111221 Expired - Fee Related CN1256263C (en) | 2003-03-21 | 2003-03-21 | Self winding type umbilical cable winding and releasing device without slide ring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1256263C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100348384C (en) * | 2005-05-27 | 2007-11-14 | 中国科学院沈阳自动化研究所 | Tension control and counting derice |
| CN100515913C (en) * | 2006-01-27 | 2009-07-22 | 中国科学院沈阳自动化研究所 | Underwater cable retracting mechanism |
| CN102963776A (en) * | 2012-11-12 | 2013-03-13 | 中国船舶重工集团公司第七○二研究所 | Underwater orthogonal swinging type neutral cable synchronous conveying mechanism |
| CN105511455A (en) * | 2015-12-17 | 2016-04-20 | 深圳伟思创信息开发有限公司 | Control system and control method of amphibious unmanned aircraft |
| CN107800077A (en) * | 2017-11-21 | 2018-03-13 | 烟台大学 | Sea paving cable equipment |
| CN108188897A (en) * | 2018-01-18 | 2018-06-22 | 美钻能源科技(上海)有限公司 | Robot rust removalling equipment |
-
2003
- 2003-03-21 CN CN 03111221 patent/CN1256263C/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100348384C (en) * | 2005-05-27 | 2007-11-14 | 中国科学院沈阳自动化研究所 | Tension control and counting derice |
| CN100515913C (en) * | 2006-01-27 | 2009-07-22 | 中国科学院沈阳自动化研究所 | Underwater cable retracting mechanism |
| CN102963776A (en) * | 2012-11-12 | 2013-03-13 | 中国船舶重工集团公司第七○二研究所 | Underwater orthogonal swinging type neutral cable synchronous conveying mechanism |
| CN102963776B (en) * | 2012-11-12 | 2015-04-15 | 中国船舶重工集团公司第七○二研究所 | Underwater orthogonal swinging type neutral cable synchronous conveying mechanism |
| CN105511455A (en) * | 2015-12-17 | 2016-04-20 | 深圳伟思创信息开发有限公司 | Control system and control method of amphibious unmanned aircraft |
| CN107800077A (en) * | 2017-11-21 | 2018-03-13 | 烟台大学 | Sea paving cable equipment |
| CN107800077B (en) * | 2017-11-21 | 2024-03-22 | 烟台大学 | Offshore cable laying equipment |
| CN108188897A (en) * | 2018-01-18 | 2018-06-22 | 美钻能源科技(上海)有限公司 | Robot rust removalling equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1256263C (en) | 2006-05-17 |
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