CN202244048U - Omni-seal thin film type emergency floating recovery device - Google Patents
Omni-seal thin film type emergency floating recovery device Download PDFInfo
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- CN202244048U CN202244048U CN2011204206217U CN201120420621U CN202244048U CN 202244048 U CN202244048 U CN 202244048U CN 2011204206217 U CN2011204206217 U CN 2011204206217U CN 201120420621 U CN201120420621 U CN 201120420621U CN 202244048 U CN202244048 U CN 202244048U
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Abstract
The utility model relates to an omni-seal thin film type emergency floating recovery device belonging the technical field of underwater salvage recovery. The recovery device comprises a housing, a housing cabin cover, a bag component, a hydrostatic membrane driving mechanism, a gas cylinder component, a gas cylinder container cabin, a gas cylinder component support, a hydrostatic driving mechanism cabin, an air supply pipe, an air supply mouth, a flexible pipe, a contracting rope and an automatic locker; and the external hydraulic pressure generates a certain pressure to a rubber film of the hydrostatic membrane driving mechanism through the gas cabin when the device sinks to be under a set depth, the rubber film drives a drive rod to push a hollow thimble to puncture a seal head on the gas cylinder component when the water pressure is greater than a set pressure applied to a pressure spring, compressed air in the gas cylinder component enters the bag component along with an inner hole of the hollow thimble through the air supply pipe, so that the bag component is gradually expanded and outwards supports the housing cabin cover, the bag component separates from the housing to float into the water, and the housing and an underwater detector are gradually lifted up to the water surface along with the contacting rope.
Description
Technical field
The utility model relates to a kind of underwater emergency come-up regenerative apparatus, belongs to underwater salvage recovery technology field.
Background technology
Secret for exploring the ocean, just must survey and observe the structure of submarine sedimentary strata, collect relevant data so that research will be distributed in certain depth under water with detecting devices for obtaining data.Yet; Because sea climate and environment are abominable; The detecting devices that is distributed under water causes the inaccurate or damage equipment of data measured because a variety of causes exceeds to set the depth of water or sink to the seabed; Maybe can't reclaim and cause heavy losses, can reliable recovery for guaranteeing detecting devices, be necessary that under water being equipped with a kind of regenerative apparatus on the equipment does not exceed set depth with assurance equipment.According to investigations, at present domesticly be used for the equipment that immersed body salvages circle, air bag and the manned deep-sea vehicle of salvaging etc. arranged, these equipment or device are mainly used in the salvaging of main equipment under water, like shipwreck etc.Generally carry out immersed body abroad and salvage or rescue, but these fishing devices are only for the recovery of surface facilities with specialized equipment.NATO various countries have developed some later-model immersed bodies and have salvaged system, and its technology is very advanced, and effect is also more satisfactory; Be typically the ERATO system of France's development; The salvaging degree of depth of this system surpasses 1000m, and operating personal only needs to control at the water surface, and safety is better; But complex structure, expensive; The method of detecting devices is to use a kind of device that can float automatically in the another kind of external recycle-water commonly used, but its inner structure and dispose not quite clear.
The utility model content
The purpose of the utility model is the emergent come-up of a kind of hermetically sealed diaphragm type of a design regenerative apparatus, in water, has neutral buoyancy after this device assembled, is fitted on the underwater detection equipment with one of which is same to lay entry and do not influence the functions of use of detecting devices.Surge excessive or other unknown causes when chance rough weather is caused; Make when detecting devices sinks to the safety depth of setting; Hydraulic pressure membrane type driver train action on the emergent come-up regenerative apparatus, the bag in the device launches and provides certain buoyancy to carry detecting devices to rise to the water surface.
The emergent come-up of a kind of hermetically sealed diaphragm type regenerative apparatus comprises housing, housing hatchcover, bag assembly, hydrostatic membrane driver train, cylinder package, cylinder package support, air supply pipe, air feed mouth, flexible tube, retraction cord and self-locking device; Wherein: the inner structure of housing is divided into three cabins, is respectively bag cabin, gentle bottle container cabin, hydraulic drive mechanism cabin from left to right; Gas cylinder container cabin is cabin independently, links to each other with the hydraulic drive mechanism cabin through standard fasteners; The hydraulic drive mechanism cabin is designed to fully closed structure; The bag cabin is the open-type structure of no seal request, and its top is provided with openable housing hatchcover, and self-locking device is consolidated into one with housing hatchcover and housing, and inner relevant position, bag cabin is provided with earrings; The bag assembly comprises retraction cord, goes into valve, air leaking nozzle and air bag; Airbag design becomes the rice bag shaped structure; So that folding or coiling also can launch in the course of the work smoothly, will go into the bottom that valve is arranged on air bag, air leaking nozzle is located at its top; Through sulfurization technology the three is constituted one, go into valve and air leaking nozzle and all adopt the mechanism that is similar to check valve; The hydrostatic membrane driver train comprises securing cover plate, rubber diaphragm, orienting sleeve, permanent seat, stage clip, drive spindle, ventilation bolt, pilot seal part, hollow thimble, packing seal, cutting ferrule, thimble seat and guide ring; Have axial water inlet on the securing cover plate, the fitting surface of securing cover plate is provided with the above annular groove of twice, to improve the sealing property of its fitting surface; For reducing sealing surface, rubber diaphragm and drive spindle are sulfided into one through sulfuration process; For guaranteeing the alerting ability of orienting sleeve motion, on its outer peripheral face, be processed with the twice Baltimore groove, in order to guide ring to be installed, guarantee stuck phenomenon can not occur in the course of the work;
In the hydrostatic membrane driver train; Be sleeved on permanent seat inside after on the orienting sleeve guide ring being installed, between guide ring and the permanent seat bottom stage clip be set, drive spindle inserts in the orienting sleeve; Its stepped portions and rubber diaphragm are fitted, and the head of drive spindle contacts with the interior hollow thimble of thimble seat; Fastener is solidified as a whole securing cover plate and permanent seat, and the right-hand member and the cutting ferrule of securing cover plate are fixed together; Thimble seat is installed in the cavity of securing cover plate and cutting ferrule formation, and hollow thimble and thimble seat cooperation place are provided with axially dynamically pilot seal part; Self-locking device comprises locking lever, ball rod, stage clip and stage clip lid; Locking lever and ball rod contact site are the semicircle column type; The stage clip level is positioned at the mounting hole of bag cabin housing; Conflict with the limit dais of stage clip lid and locking lever respectively in its two ends, the keep left stage clip of right both sides of vertical ball rod drives the locking of locking lever realization housing hatchcover and housing.
Its whole annexation is: the bag assembly is set in the bag cabin, and air bag is fixed on the earrings of inner relevant position, bag cabin through retraction cord; The hydrostatic membrane driver train is set in the hydraulic drive mechanism cabin, and the air feed mouth is installed on the housing on the dividing plate between hydraulic drive mechanism cabin and bag cabin, again with the epoxy glue sealing, to guarantee the sealing property in hydraulic drive mechanism cabin; One end of air supply pipe links to each other with the ventilation bolt, and the other end links to each other with air feed mouth in the hydraulic drive mechanism cabin; Flexible tube one end links to each other with air feed mouth in the bag cabin, and the valve of going on the bag assembly in the other end and the bag cabin is connected; Through the cylinder package support cylinder package level is installed in the gas cylinder container cabin, the position of the position of thimble seat and the top pressure closure on the cylinder package is relative in the hydrostatic membrane driver train;
For guaranteeing that hollow thimble can penetrate the top pressure closure on the cylinder package smoothly under certain hydraulic pressure, hollow thimble is designed to the version of medical needle, to strengthen its structural strength; Simultaneously for guaranteeing that hollow thimble is behind the top pressure closure that punctures on the cylinder package; Guarantee that gas in the cylinder package can be smoothly and all pour in the bag assembly; Be provided with axially dynamically pilot seal part at hollow thimble and thimble seat cooperation place; The sealing part had both played sealing function, possessed certain guide function again; For guaranteeing the section sealing between hollow thimble and cylinder package, packing seal is housed in thimble seat simultaneously; For simplifying the assembly technology of pilot seal part, hollow thimble, packing seal and thimble seat, after assembling is accomplished, adopt technique for sticking that they are packaged into one; For shortening gas in the cylinder package to the distance between the bag assembly, on thimble seat, be provided with the ventilation bolt, the air-tightness for guaranteeing to ventilate between bolt and thimble seat is equipped with the combination sealing pad in two part cooperation places, to guarantee the sealing property of faying face; The radical function of cylinder package support and cutting ferrule is respectively fixedly cylinder package and thimble seat, guarantees the influence that it does not receive severe sea condition in the course of the work; Prevent the self-locking mechanism that hollow thimble is subjected to displacement in installing in the thimble seat, after in the hollow thimble entering cylinder package, self-locking mechanism is with hollow top-pin for locking, and when the outer water pressure drop on acting on rubber diaphragm was hanged down, hollow thimble can not move yet.
Beneficial effect: the utility model is by predefined spring force, and the water pressure pushing hydrostatic membrane driver train that after device reaches certain depth, is produced moves, and is simple in structure, reliable operation; Bag container cabin housing links to each other through rotating mechanism with container hatchcover one end, and the other end is locked by self-locking mechanism; Ball rod compresses locking lever, and ball rod relies on spring application again and resets, and when the bag inflation, locking lever is pushed ball rod open, the upset of container hatchcover, and this locking lever upper-lower position is adjustable, and self-locking mechanism locking is stable, and it is little that bag launches to push the container cover resistance open.
Description of drawings
Fig. 1 is the utility model structure collectivity figure;
Fig. 2 is the expansion scheme drawing of the utility model when in water, working;
Fig. 3 is the view after the inflation of the utility model bag:
Fig. 4 is that the utility model hydrostatic membrane driver train is formed scheme drawing;
Fig. 5 is the utility model hydrostatic membrane driver train part partial enlarged drawing;
Fig. 6 is the partial enlarged drawing of the utility model self-locking device.
Wherein: the 1-housing; 2-container hatchcover; 3-bag assembly; 4-thimble driver train; The 5-cylinder package; 6-gas cylinder container cabin; 7-cylinder package support; 8-hydraulic drive mechanism cabin; The 9-air supply pipe; 10-air feed mouth; The 11-flexible tube; The 12-retraction cord; The 13-self-locking device; 14-bag cabin; 15-goes into valve; The 16-air leaking nozzle; The 17-air bag; The 18-securing cover plate; The 19-rubber diaphragm; The 20-orienting sleeve; The 21-permanent seat; The 22-stage clip; The 23-drive spindle; The 24-bolt of ventilating; 25-pilot seal part; The hollow thimble of 26-; The 27-packing seal; The 28-cutting ferrule; The 29-thimble seat; The 30-guide ring; The 31-water inlet.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is explained further details.
As attach shown in Fig. 1 and 2, the emergent come-up of the hermetically sealed diaphragm type of the utility model regenerative apparatus comprises housing 1, housing hatchcover 2, bag assembly 3, hydrostatic membrane driver train 4, cylinder package 5, cylinder package support 7, air supply pipe 9, air feed mouth 10, flexible tube 11, retraction cord 12 and self-locking device 13;
Wherein: the inner structure of housing 1 is divided into three cabins, is respectively bag cabin 14,8 gentle bottle container cabins 6, hydraulic drive mechanism cabin from left to right; For ease of assembling and replacing cylinder package 5, gas cylinder container cabin 6 is designed to independently cabin, link to each other with hydraulic drive mechanism cabin 8 through standard fasteners; Alerting ability when guaranteeing hydrostatic membrane driver train 4 work and not by marine corrosion is designed to fully closed structure with hydraulic drive mechanism cabin 8; For guaranteeing that bag assembly 3 can launch smoothly; Bag cabin 14 is designed to not have the open-type structure of seal request; The top of housing 1 storage bag assembly 3 is provided with the housing hatchcover 2 that can open flexibly; When bag assembly 3 is not worked, can housing hatchcover 2 and housing 1 be consolidated into one through self-locking device 13, shown in accompanying drawing 6, self-locking device 13 comprises locking lever, ball rod, stage clip and stage clip lid; Locking lever and ball rod contact site are the semicircle column type; The stage clip level is positioned at the mounting hole of bag cabin 14 housings; Conflict with the limit dais of stage clip lid and locking lever respectively in its two ends, the keep left stage clip of right both sides of vertical ball rod drives the locking that locking lever is realized housing hatchcover 2 and bag cabin 14 housings; When the gaseous tension that pours in the bag assembly 3 can make housing hatchcover 2 open during greater than external environment hydraulic pressure certain value smoothly; For still constituting one after bag assembly 3 is launched with housing 1; Be provided with earrings in 14 relevant positions, bag cabin; So that be connected with an end of retraction cord 12, the other end of retraction cord 12 links to each other with the eyelet that bag assembly 3 is provided with, and the design-calculated purpose is like this: when the gaseous tension in the bag assembly 3 reaches certain value, will push housing hatchcover 2 open; Increase gradually along with its air pressure inside; Bag assembly 3 will progressively break away from bag cabin 14 and in all floating entry, carry emergent come-up regenerative apparatus through retraction cord 12 to float to the water surface with underwater detection equipment, and will be as shown in Figure 2; Bag assembly 3 is formed by going into valve 15, air leaking nozzle 16 and air bag 17, and is as shown in Figure 3.Air bag 17 is designed to a meter bag shaped structure, so that folding or coiling; Can launch smoothly in the course of the work for ease of air bag 17, will go into the bottom that valve 15 is arranged on air bag 17, air leaking nozzle 16 is located at its top, through sulfurization technology the three is constituted one; Go into valve 15 and all adopt the mechanism that is similar to check valve with air leaking nozzle 16.
Shown in accompanying drawing 4, hydrostatic membrane driver train 4 comprises securing cover plate 18, rubber diaphragm 19, orienting sleeve 20, permanent seat 21, stage clip 22, drive spindle 23, ventilation bolt 24, pilot seal part 25, hollow thimble 26, packing seal 27, cutting ferrule 28, thimble seat 29 and guide ring 30; For simplifying the internal structure of an organization securing cover plate 18 and water inlet 31 are designed to one,, on the fitting surface of securing cover plate 18, are provided with some annular grooves, to improve the sealing property of its fitting surface for guaranteeing to form a watertight compartment after securing cover plate 18 assemblings; For reducing sealing surface, rubber diaphragm 19 and drive spindle 23 are sulfided into one through sulfuration process; For guaranteeing the alerting ability of orienting sleeve 20 motions, on its outer peripheral face, be processed with the twice Baltimore groove, in order to guide ring 30 to be installed, guarantee stuck phenomenon can not occur in the course of the work; According to actual applying working condition, stage clip 22 can be selected single stage clip or combination stage clip for use, to improve its load-carrying capacity, if stage clip 22 is selected the combination stage clip for use simultaneously, and the stability in the time of also can improving drive spindle 23 work; After above-mentioned each component assembly puts in place, securing cover plate 18 and permanent seat 21 are solidified as a whole with fastener.For guaranteeing that hollow thimble 26 can penetrate the top pressure closure on the cylinder package 5 smoothly under certain hydraulic pressure, hollow thimble 26 is designed to be similar to the version of medical needle, to strengthen its structural strength; Simultaneously for guaranteeing that hollow thimble 26 is behind the top pressure closure that punctures on the cylinder package 5; Guarantee that gases in the cylinder package 5 can be smoothly and all pour in the bag assembly 3; Be provided with axially dynamically pilot seal part 25 in hollow thimble 26 and thimble seat 29 cooperation places; Shown in accompanying drawing 5, the sealing part had both played sealing function, possessed certain guide function again; For guaranteeing the section sealing of 5 of hollow thimble 26 and cylinder packages, packing seal 27 is housed in thimble seat 29 simultaneously; For simplifying the assembly technology of pilot seal part 25, hollow thimble 26, packing seal 27 and thimble seat 29, after assembling is accomplished, adopt technique for sticking that they are packaged into one.For shortening gas in the cylinder package 5 to the distance between the bag assembly 3; On thimble seat 29, be provided with the ventilation bolt 24 of the standard of being similar to; For guaranteeing the air-tightness of 29 of ventilation bolt 24 and thimble seats, be equipped with the combination sealing pad in two part cooperation places, to guarantee the sealing property of faying face; The radical function of cylinder package support 7 and cutting ferrule 28 is respectively fixedly cylinder package 5 and thimble seat 29, guarantees the influence that it does not receive severe sea condition in the course of the work; After treating that above-mentioned parts assembling is accomplished, air feed mouth 10 is assembled on the dividing plate in hydraulic drive mechanism cabin 8 and 14 in bag cabin on the housing 1, again with the epoxy glue sealing, with the sealing property in assurance hydraulic drive mechanism cabin 8; After accomplishing above-mentioned installation step, the end with air supply pipe 9 links to each other with ventilation bolt 24 respectively, and the other end links to each other with hydraulic drive mechanism cabin 8 interior air feed mouths 10; Adopting the air feed mouths 10 that use the same method in flexible tube 11 1 ends and the bag cabin 14 and linking to each other, corresponding joint is connected on the interior bag assembly 3 in the other end and bag cabin 14.It is to be noted: after hollow thimble 26 gets in the cylinder packages 5, be assemblied in the self-locking mechanism action that prevents in the thimble seat 29 that hollow thimble 26 is subjected to displacement, even act on outer water pressure drop on the rubber diaphragm 19 when hanging down, hollow thimble 26 can not move yet.
Principle of work: when this device carries underwater detection equipment certain depth when work under water; Like surrounding environment influence or when accident occurring and sinking down into set depth, outer water will progressively increase through the hydraulic pressure that water inlet 31 gets in the sealed module that is formed by securing cover plate 18, rubber diaphragm 19 and permanent seat 21, and hydraulic pressure will be to the certain pressure of rubber diaphragm 19 generations; When the hydraulic pressure in the sealed module during greater than the setting pressure of stage clip 22; Stage clip 22 will be compressed, and the hollow thimble 26 of rubber diaphragm 19 drive drive spindles, 23 promotions this moment punctures the end socket on the cylinder package 5, be stored in the interior aperture ventilation bolt 24 inflow air supply pipes 9 of the hollow thimble 26 in pressure gas edge in the cylinder package 5 simultaneously; Get in the air bag 17 of bag assembly 3 through air feed mouth 10 and flexible tube 11 again; Under the effect of gaseous tension, air bag 17 is swollen gradually to rise, and will back down housing hatchcover 2 when swollen when increasing to certain volume; Bag assembly 3 breaks away from the housing 1 floating entry, is carrying housing 1 through retraction cord 12 and is progressively rising to the water surface with underwater detection equipment; In the process that rises; Because the gaseous tension in the bag assembly 3 constantly increases, do not risen brokenly in the course of the work for guaranteeing air bag 17, can be through 16 venting of the air leaking nozzle on it; Pressure with in the assurance bag assembly 3 remain on setting value, and have enough buoyancy that equipment is brought to the water surface.
Claims (5)
1. the emergent come-up of hermetically sealed diaphragm type regenerative apparatus; It is characterized in that, comprise housing (1), housing hatchcover (2), bag assembly (3), hydrostatic membrane driver train (4), cylinder package (5), cylinder package support (7), air supply pipe (9), air feed mouth (10), flexible tube (11), retraction cord (12) and self-locking device (13);
Wherein: the inner structure of housing (1) is divided into three cabins, is respectively bag cabin (14), gentle bottle container cabin, hydraulic drive mechanism cabin (8) (6) from left to right; Gas cylinder container cabin (6) is cabin independently, links to each other with hydraulic drive mechanism cabin (8) through standard fasteners; Hydraulic drive mechanism cabin (8) is designed to fully closed structure; Bag cabin (14) is the open-type structure of no seal request, and its top is provided with openable housing hatchcover (2), and self-locking device (13) is consolidated into one with housing hatchcover (2) and housing (1), and inner relevant position, bag cabin (14) is provided with earrings; Bag assembly (3) comprises retraction cord (12), goes into valve (15), air leaking nozzle (16) and air bag (17); Go into bottom and top that valve (15) and air leaking nozzle (16) are separately positioned on air bag (17); Hydrostatic membrane driver train (4) comprises securing cover plate (18), rubber diaphragm (19), orienting sleeve (20), permanent seat (21), stage clip (22), drive spindle (23), ventilation bolt (24), pilot seal part (25), hollow thimble (26), packing seal (27), cutting ferrule (28), thimble seat (29) and guide ring (30); Have axial water inlet (31) on the securing cover plate (18), the fitting surface of securing cover plate (18) is provided with the above annular groove of twice; Rubber diaphragm (19) is sulfided into one with drive spindle (23); Be processed with the Baltimore groove that guide ring (30) is installed on orienting sleeve (20) outer peripheral face;
In the hydrostatic membrane driver train (4); Orienting sleeve (20) is sleeved on permanent seat (21) inside after going up guide ring (30) being installed; Between guide ring (30) and permanent seat (21) bottom stage clip (22) is set; Drive spindle (23) inserts in the orienting sleeve (20), and its stepped portions and rubber diaphragm (19) are fitted, and the head of drive spindle (23) contacts with the interior hollow thimble (26) of thimble seat (29); Fastener is solidified as a whole securing cover plate (18) and permanent seat (21), and the right-hand member and the cutting ferrule 28 of securing cover plate (18) are fixed together; Thimble seat (29) is installed in the cavity of securing cover plate (18) and cutting ferrule (28) formation;
Its whole annexation is: bag assembly (3) is set in bag cabin (14), and air bag (17) is fixed on the earrings of inner relevant position, bag cabin (14) through retraction cord (12); Hydrostatic membrane driver train (4) is set in the hydraulic drive mechanism cabin (8), and air feed mouth (10) is installed in housing (1) and goes up on the dividing plate between hydraulic drive mechanism cabin (8) and bag cabin (14), seals with epoxy glue again; One end of air supply pipe (9) links to each other with ventilation bolt (24), and the other end links to each other with hydraulic drive mechanism cabin (8) interior air feed mouth (10); Air feed mouth (10) in flexible tube (11) one ends and bag cabin (14) links to each other, and the valve (15) of going on the interior bag assembly (3) in the other end and bag cabin (14) is connected; Through cylinder package support (7) cylinder package (5) level is installed in the gas cylinder container cabin (6), the position of the top pressure closure on the position of the interior thimble seat of hydrostatic membrane driver train (4) (26) and the cylinder package (5) is relative.
2. regenerative apparatus as claimed in claim 1 is characterized in that said hollow thimble (26) and thimble seat (29) cooperation place are provided with axially dynamically pilot seal part (25).
3. according to claim 1 or claim 2 regenerative apparatus is characterized in that said pilot seal part (25), hollow thimble (26), packing seal (27) and thimble seat (29) accomplish back employing technique for sticking in assembling and be packaged into one.
4. regenerative apparatus as claimed in claim 1 prevents the self-locking mechanism that hollow thimble (26) is subjected to displacement in it is characterized in that installing in the said thimble seat (29).
5. regenerative apparatus as claimed in claim 1 is characterized in that said self-locking device (13) comprises locking lever, ball rod, stage clip and stage clip lid; Locking lever and ball rod contact site are the semicircle column type; The stage clip level is positioned at the mounting hole of bag cabin (14) housing; Conflict with the limit dais of stage clip lid and locking lever respectively in its two ends, the keep left stage clip of right both sides of vertical ball rod drives the locking that locking lever is realized housing hatchcover (2) and bag cabin (14) housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204206217U CN202244048U (en) | 2011-10-28 | 2011-10-28 | Omni-seal thin film type emergency floating recovery device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204206217U CN202244048U (en) | 2011-10-28 | 2011-10-28 | Omni-seal thin film type emergency floating recovery device |
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| CN202244048U true CN202244048U (en) | 2012-05-30 |
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| CN2011204206217U Expired - Fee Related CN202244048U (en) | 2011-10-28 | 2011-10-28 | Omni-seal thin film type emergency floating recovery device |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102417018A (en) * | 2011-10-28 | 2012-04-18 | 中国船舶重工集团公司第七一○研究所 | Fully-sealed membrane type emergency floating recovery device |
| CN103950514A (en) * | 2014-05-12 | 2014-07-30 | 西北工业大学 | Underwater uncovering device |
| CN103950523A (en) * | 2014-05-07 | 2014-07-30 | 西北工业大学 | Underwater recycling device |
| CN104477356A (en) * | 2014-11-19 | 2015-04-01 | 中国船舶重工集团公司第七○二研究所 | Underwater operation simulation bench for ROV (Remote Operated Vehicle) |
| CN104648635A (en) * | 2013-11-22 | 2015-05-27 | 中国科学院沈阳自动化研究所 | Separable floating body device used for recycling AUV (Autonomous Underwater Vehicle) |
| CN105083506A (en) * | 2015-08-25 | 2015-11-25 | 中国计量学院 | Automatic floating device of underwater robot and method for controlling automatic floating device |
| CN106394828A (en) * | 2016-11-18 | 2017-02-15 | 国家海洋局第二海洋研究所 | Fishing device |
| CN108284932A (en) * | 2018-01-05 | 2018-07-17 | 惠安耐亚节能科技有限公司 | A kind of underwater anticollision unmanned plane for shooting |
| CN108639279A (en) * | 2018-06-12 | 2018-10-12 | 哈尔滨工程大学 | A kind of wave glider for capableing of Emergency recovery |
| CN109080794A (en) * | 2018-06-29 | 2018-12-25 | 中国船舶重工集团公司第七〇五研究所 | A kind of inflatable deliverance apparatus and method for submarine navigation device emergency floating |
| CN109436263A (en) * | 2018-10-30 | 2019-03-08 | 中国航天空气动力技术研究院 | A kind of submarine navigation device fish shape athletic posture adjusts and self-help apparatus |
| CN110228577A (en) * | 2019-06-18 | 2019-09-13 | 胡泽兵 | Underwater cruise robot emergency ascent deliverance apparatus |
| CN113492947A (en) * | 2021-07-07 | 2021-10-12 | 烟台宏远载人压力舱工程技术研究院有限公司 | Flexible butt joint device for pressure chamber |
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2011
- 2011-10-28 CN CN2011204206217U patent/CN202244048U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102417018A (en) * | 2011-10-28 | 2012-04-18 | 中国船舶重工集团公司第七一○研究所 | Fully-sealed membrane type emergency floating recovery device |
| CN104648635A (en) * | 2013-11-22 | 2015-05-27 | 中国科学院沈阳自动化研究所 | Separable floating body device used for recycling AUV (Autonomous Underwater Vehicle) |
| CN103950523A (en) * | 2014-05-07 | 2014-07-30 | 西北工业大学 | Underwater recycling device |
| CN103950514A (en) * | 2014-05-12 | 2014-07-30 | 西北工业大学 | Underwater uncovering device |
| CN104477356A (en) * | 2014-11-19 | 2015-04-01 | 中国船舶重工集团公司第七○二研究所 | Underwater operation simulation bench for ROV (Remote Operated Vehicle) |
| CN105083506B (en) * | 2015-08-25 | 2019-01-01 | 中国计量学院 | The automatic levitating device and its control method of underwater robot |
| CN105083506A (en) * | 2015-08-25 | 2015-11-25 | 中国计量学院 | Automatic floating device of underwater robot and method for controlling automatic floating device |
| CN106394828A (en) * | 2016-11-18 | 2017-02-15 | 国家海洋局第二海洋研究所 | Fishing device |
| CN108284932A (en) * | 2018-01-05 | 2018-07-17 | 惠安耐亚节能科技有限公司 | A kind of underwater anticollision unmanned plane for shooting |
| CN108639279A (en) * | 2018-06-12 | 2018-10-12 | 哈尔滨工程大学 | A kind of wave glider for capableing of Emergency recovery |
| CN109080794A (en) * | 2018-06-29 | 2018-12-25 | 中国船舶重工集团公司第七〇五研究所 | A kind of inflatable deliverance apparatus and method for submarine navigation device emergency floating |
| CN109436263A (en) * | 2018-10-30 | 2019-03-08 | 中国航天空气动力技术研究院 | A kind of submarine navigation device fish shape athletic posture adjusts and self-help apparatus |
| CN110228577A (en) * | 2019-06-18 | 2019-09-13 | 胡泽兵 | Underwater cruise robot emergency ascent deliverance apparatus |
| CN113492947A (en) * | 2021-07-07 | 2021-10-12 | 烟台宏远载人压力舱工程技术研究院有限公司 | Flexible butt joint device for pressure chamber |
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