CN202379064U - Launching and retrieval device for autonomous underwater vehicle - Google Patents
Launching and retrieval device for autonomous underwater vehicle Download PDFInfo
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- CN202379064U CN202379064U CN2011205496359U CN201120549635U CN202379064U CN 202379064 U CN202379064 U CN 202379064U CN 2011205496359 U CN2011205496359 U CN 2011205496359U CN 201120549635 U CN201120549635 U CN 201120549635U CN 202379064 U CN202379064 U CN 202379064U
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Abstract
The utility model belongs to the field of an autonomous underwater vehicle, particularly a launching and retrieval device for the autonomous underwater vehicle. The launching and retrieval device comprises a bearing beam body, mechanical grippers, a lifting appliance, a battery module, a control and communication module and a hydraulic system; the mechanical grippers are respectively arranged at both ends of the bearing beam body; the battery module is arranged on the bearing beam body and is used for providing power for the launching and retrieval device; the control and communication module and the hydraulic system are respectively arranged on the bearing beam body and are respectively connected with the battery module; and the control and communication module is used for receiving a control command sent by a worker on a mother ship and driving the mechanical grippers at both the ends to synchronously open, close or clamp by the hydraulic system. According to the utility model, the aim that the worker can carry out launching and retrieval operation on the autonomous underwater vehicle can be fulfilled; the launching and retrieval process of the autonomous underwater vehicle is implemented by adopting a mechanical retrieval device with the autonomous opening and closing capacity; and the danger of the launching and retrieval process of the autonomous underwater vehicle is reduced.
Description
Technical field
The utility model belongs to autonomous submarine navigation device field, specifically a kind of autonomous submarine navigation device that is used to have the gyro-rotor characteristic lay regenerative apparatus.
Background technology
Autonomous submarine navigation device is a kind of underwater platform that relies on the self-contained energy independently to navigate by water.Owing to receive the influence of marine stormy waves, laying and reclaiming of autonomous submarine navigation device is a relatively operation process of difficulty always.At present; Autonomous submarine navigation device mainly is employed in the mode that the Heave Here is installed on the ROV and lays and reclaim operation; But when laying, this method need Heave Here and crane hook be broken away from; Need the Heave Here to be connected with suspension hook during recovery again, often need the staff on canoe even down water operation, this has just increased and when sea situation is bad, has laid and reclaimed danger.
The utility model content
Lay and reclaim the dangerous high problem of operation in order to solve present autonomous submarine navigation device, the purpose of the utility model is to provide a kind of regenerative apparatus that lays of autonomous submarine navigation device.But this lays regenerative apparatus and adopts hydraulically powered folding to hold in hand, and the staff can lay and reclaimer operation autonomous submarine navigation device on lash ship.
The purpose of the utility model realizes through following technical scheme:
The utility model comprises bearing beam body, mechanical handgrip, lifting appliance, battery module, control and communication module and hydraulic efficiency pressure system; Wherein the two ends of bearing beam body are respectively equipped with a mechanical handgrip; Said battery module is installed on the bearing beam body, for the said regenerative apparatus that lays power is provided; Said control and communication module and hydraulic efficiency pressure system are installed in respectively on the bearing beam body; And link to each other with battery module respectively, control and communication module receive the control command that the staff sends on the lash ship, drive the mechanical handgrip synchronous on-off or the clamping at two ends through hydraulic efficiency pressure system; Said bearing beam body is provided with the lifting appliance that is connected with the lash ship crane.
Wherein: said bearing beam body and autonomous submarine navigation device bottom face in contact are provided with damping inflating rubber pad; The mechanical handgrip structure at said bearing beam body two ends is identical, includes two jaws, and an end of each jaw is provided with gear, and the other end is provided with and said battery module bonded assembly adhesive electromagnet; Gear on two jaws of mechanism's handgrip is meshing with each other; Two jaws that are positioned at a side in two mechanism's handgrips link to each other with said hydraulic efficiency pressure system respectively, are driven by hydraulic efficiency pressure system, and two jaws that are positioned at opposite side in two mechanism's handgrips are synchronized with the movement through the gear meshing transmission; Said each jaw is semicircle, and two jaws of the same end of bearing beam body are in clamped condition and form and the corresponding circle of said autonomous submarine navigation device outline, and each jaw and the contacted inboard of said autonomous submarine navigation device all scribble rubber layer; The mechanical gripping hand of said bearing beam body one end comprises first jaw and second jaw; The mechanical gripping hand of the other end comprises the 3rd jaw and the 4th jaw; Wherein the gear on first jaw is through the end face of active rotation axle mounting at said bearing beam body one end; Gear on second jaw is installed in the end face of said bearing beam body one end through passive S. A., said active rotation axle pass bearing beam body one end end face, link to each other with hydraulic efficiency pressure system; Gear on said the 3rd jaw is installed in the end face of the said bearing beam body other end through power drive shaft; Gear on the 4th jaw is installed in the end face of the said bearing beam body other end through passive S. A., this power drive shaft pass the bearing beam body other end end face, link to each other with hydraulic efficiency pressure system; Said hydraulic efficiency pressure system comprises motor and Hydraulic Pump module, hydraulic reservoir, hydraulic valve and hydraulic pressure oscillating cylinder; Wherein motor and Hydraulic Pump module are connected with control and communication module with battery module respectively; The inlet of Hydraulic Pump is communicated with hydraulic reservoir in said motor and the Hydraulic Pump module; Outlet is communicated with hydraulic valve through the Hydraulic Pump oil pipe; Said hydraulic pressure oscillating cylinder is communicated with hydraulic valve through hydraulic pressure oscillating cylinder oil pipe, and the mechanical handgrip at said bearing beam body two ends is connected with the hydraulic pressure oscillating cylinder respectively, through the drive folding of hydraulic pressure oscillating cylinder or close; Said hydraulic valve is the solenoid directional control valve of 3-position 4-way; Said lifting appliance comprises the first suspension ring, second hoisting ring and hoisting wirerope; Wherein the first suspension ring are installed on the bearing beam body; One end of said hoisting wirerope is connected with the first suspension ring through second hoisting ring, and the other end passes through second hoisting ring and is connected with crane on the lash ship; The two ends of said bearing beam body are respectively equipped with only swings suspension ring, and each only swings suspension ring all is that frapping line is arranged; On the said bearing beam body protective case is installed, battery module, control and communication module and hydraulic efficiency pressure system all are positioned at said protective case.
Advantage of the utility model and good effect are:
1. the utility model can realize that the staff can lay and reclaim operation to autonomous submarine navigation device on lash ship, is employed in the mechanical regenerative apparatus that has autonomous opening and closing ability under the teleaction and realizes laying of autonomous submarine navigation device and removal process.
2. the utility model carries the energy voluntarily, adopts hydraulic efficiency pressure system to realize the opening and closing action of mechanism, has greatly reduced autonomous submarine navigation device and has laid the danger with removal process.
3. damping inflating rubber pad 20 has been installed in the bottom surface that contacts with autonomous submarine navigation device of the bearing beam body of the utility model; Be used for cushioning and lay when reclaiming ROV and lay the impact force of regenerative apparatus when contacting, avoid ROV to cause damage laying with removal process.
4. the low side of each jaw of the utility model is equipped with the adhesive electromagnet, guarantees to lay the reliability of removal process clamping.
5. the inboard of each jaw of the utility model all scribbles rubber layer, has reduced the collision impact of jaw and autonomous submarine navigation device in clamping process, and effectively protection lays the safety with the autonomous submarine navigation device ROV of removal process.
Description of drawings
Fig. 1 is the structural representation of the utility model clamped condition;
Fig. 2 is one of structural representation of the utility model relaxation state;
Fig. 3 be the utility model relaxation state structural representation two;
Fig. 4 is the hydraulic system principle figure of the utility model;
Wherein: 1 is autonomous submarine navigation device, and 2 is first jaw, and 3 is second jaw, and 4 is the 3rd jaw, and 5 is the 4th jaw; 6 is the first suspension ring, and 7 is second hoisting ring, and 8 is hoisting wirerope, and 9 is the active rotation axle, and 10 is passive S. A.; 11 is gear, swings suspension ring till 12, and 13 are the adhesive electromagnet, and 14 be battery module, and 15 for controlling and communication module; 16 is motor and Hydraulic Pump module, and 17 is hydraulic reservoir, and 18 is hydraulic valve, and 19 is the hydraulic pressure oscillating cylinder, and 20 is hydraulic pressure oscillating cylinder oil pipe; 21 is power drive shaft, and 22 is the Hydraulic Pump oil pipe, and 23 are damping inflating rubber pad, and 24 is the bearing beam body, and 25 is protective case.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is done further to detail.
Shown in Fig. 1～3; The utility model comprises bearing beam body 24, mechanical handgrip, lifting appliance, battery module 14, control and communication module 15 and hydraulic efficiency pressure system; Wherein on the bearing beam body 24 protective case 25 is installed, battery module 14, control and communication module 15 and hydraulic efficiency pressure system be installed in respectively on the bearing beam body 14, and all be positioned at said protective case 25.The two ends of bearing beam body 24 are respectively equipped with a mechanical handgrip; It is that the utility model lays regenerative apparatus energy is provided that said battery module 14 adopts the high density secondary lithium batteries; Said control and communication module 15 and hydraulic efficiency pressure system are electrically connected with battery module 14 respectively; The control command that the staff sends on the lash ship is formed, received to control and communication module 15 by communication module and control system (communication module and control system are prior art) two parts, drive the mechanical handgrip synchronous on-off or the clamping at two ends through hydraulic efficiency pressure system; Said bearing beam body 24 is provided with the lifting appliance that is connected with the lash ship crane.
As shown in Figure 4; The hydraulic efficiency pressure system of the utility model provides mechanical handgrip folding or has closed required power; Comprise motor and Hydraulic Pump module 16, hydraulic reservoir 17, hydraulic valve 18 and hydraulic pressure oscillating cylinder 19; Wherein motor and Hydraulic Pump module 16 are connected with control and communication module 15 with battery module 14 respectively; The inlet of Hydraulic Pump is communicated with hydraulic reservoir 17 behind filter 25 in said motor and the Hydraulic Pump module 16, and outlet is communicated with hydraulic valve 18 through Hydraulic Pump oil pipe 22, and said hydraulic pressure oscillating cylinder 19 is communicated with hydraulic valve 18 through hydraulic pressure oscillating cylinder oil pipe 20; The mechanical handgrip at said bearing beam body 24 two ends is connected with hydraulic pressure oscillating cylinder 19 respectively, drives foldings or closes through hydraulic pressure oscillating cylinder 19.The hydraulic valve 18 of the utility model is the solenoid directional control valve of 3-position 4-way.
The mechanical handgrip structure at bearing beam body 24 two ends is identical; Include two jaws; The mechanical gripping hand that is bearing beam body 24 1 ends comprises first jaw 2 and second jaw 3; The mechanical gripping hand of the other end comprises that an end of the 3rd jaw 4 and the 4th jaw 5, the first～four jaws 2～5 is equipped with gear 11, and the other end is equipped with and said battery module 14 bonded assembly adhesive electromagnet 13; Each jaw is semicircle; When mechanical handgrip is in clamped condition; First jaw 2 and second jaw 3 form and the corresponding circle of said autonomous submarine navigation device 1 outline, and the 3rd jaw 4 of the other end and the 4th jaw 5 form and the corresponding circle of said autonomous submarine navigation device 1 outline; Each jaw and said autonomous submarine navigation device 1 contacted inboard all scribble rubber layer, are used to cushion lay when reclaiming autonomous submarine navigation device and lay the impact force of regenerative apparatus when contacting.Gear 11 on first jaw 2 is installed in through active rotation axle 9 on the end face of bearing beam body 24 1 ends, gear on first jaw 2 11 and active rotation axle be 9 affixed, with active rotation axle 9 co-rotation; Gear 11 on second jaw 3 is installed in the end face of bearing beam body 24 1 ends through passive S. A. 10, and the gear on first and second jaw 2,3 intermeshes, and active rotation axle 9 passes the end face of bearing beam body 24 1 ends, links to each other with hydraulic pressure oscillating cylinder 19; Gear 11 on the 3rd jaw 4 is installed in through power drive shaft 21 on the end face of bearing beam body 24 other ends, gear on the 3rd jaw 4 11 and power drive shaft be 21 affixed, with power drive shaft 21 co-rotation; Gear 11 on the 4th jaw 5 is installed in the end face of bearing beam body 24 other ends through passive S. A. 10, and the gear on third and fourth jaw 4,5 intermeshes, power drive shaft 21 pass bearing beam body 24 other ends end face, link to each other with hydraulic pressure oscillating cylinder 19.Under the drive of hydraulic pressure oscillating axle 19, first jaw 2 and the 3rd jaw 4 rotate simultaneously, through the engaged transmission of gear 11, second jaw 3 and the 4th jaw 5 are rotated synchronously, realize the folding of mechanical handgrip or close.
Lifting appliance comprises the first suspension ring 6, second hoisting ring 7 and hoisting wirerope 8, on bearing beam body 24, is provided with two the first suspension ring 6, and these two the first suspension ring 6 are passed by protective case 25; Each the first suspension ring 6 all is connected with an end of a hoisting wirerope 8 through second hoisting ring 7, and the other end of hoisting wirerope 8 is connected with crane on the lash ship through second hoisting ring 7.Be respectively equipped with at the two ends of bearing beam body 24 and only swing suspension ring 12, each only swings suspension ring 12 all is that frapping line is arranged; Control autonomous submarine navigation device and lay the attitude with removal process through tying up to the frapping line that only swings on the suspension ring 12, guarantee to lay safety with the removal process operation.On bearing beam body 24 and autonomous submarine navigation device 1 bottom face in contact, be provided with damping inflating rubber pad 23, be used for cushioning and lay when reclaiming ROV and lay the impact force of regenerative apparatus when contacting, avoid ROV to cause damage laying with removal process.
The principle of work of the utility model is:
At first the removal process to autonomous submarine navigation device describes: after autonomous submarine navigation device 1 was finished the work mission, the staff made autonomous submarine navigation device 1 near lash ship through remote control on the lash ship.For reducing the influence of stormy waves, adopt the mode of head traction to make that autonomous submarine navigation device 1 and lash ship keep preparing to reclaim in the same way with the speed navigation to autonomous submarine navigation device 1.
After autonomous submarine navigation device 1 and lash ship are carried out the recovery preparation, will lay regenerative apparatus and be connected with the lash ship crane through second hoisting ring 7.Lay two of regenerative apparatus and only swing suspension ring 12 and fasten frapping line respectively,, under the combined action of frapping line and crane, will lay regenerative apparatus and put down near submarine navigation device by staff's control on the lash ship.At this moment, totally four jaws of two couple who lays regenerative apparatus is in open configuration through lash ship staff remote control.To the control of two frapping lines, feasible two pairs of jaws that lay regenerative apparatus are placed on autonomous submarine navigation device 1 top and make the approximate midway location that is in two pairs of jaws of center of gravity of autonomous submarine navigation device 1 through staff on control crane and the lash ship; Slowly put down then and lay regenerative apparatus, damping inflating rubber pad 23 and autonomous submarine navigation device 1 are contacted.After autonomous submarine navigation device 1 contacts with damping inflating rubber pad 23, make rapidly through remote control to lay two pairs of jaw clampings regenerative apparatus autonomous submarine navigation device 1 is tightly held.Lay after regenerative apparatus clamps autonomous submarine navigation device 1; The lash ship crane hangs back lash ship with autonomous submarine navigation device 1 and is placed on the fixing carriage, meanwhile controls the attitude that lays regenerative apparatus and autonomous submarine navigation device 1 through being arranged in two frapping lines that lay on the regenerative apparatus.
Autonomous submarine navigation device 1 lay process and removal process is opposite, its main process is that analog bracket is put into the water from the lash ship deck with autonomous submarine navigation device 1.When autonomous submarine navigation device 1 needs that water is executed the task down, at first will lay regenerative apparatus and be connected with crane through second hoisting ring 7, only swing two of the regenerative apparatus of deploying troops on garrison duty and fasten frapping line on the suspension ring 12 respectively; To lay regenerative apparatus then hangs above autonomous submarine navigation device 1; And through remote control with two pairs of jaw clampings; Under the effect of crane and frapping line, autonomous submarine navigation device 1 is placed on the water surface; Unclamp two pairs of jaws through remote control then ROV is got in the water, the autonomous submarine navigation device 1 of last remote control leaves lash ship, accomplishes the removal process that lays of autonomous submarine navigation device 1.
The process of opening that lays two pairs of jaws of regenerative apparatus is: when the needs jaw opens; The staff opens instruction for control and communication module 15 transmissions through remote controller; Control system receives the motor action of instruction back while motor and Hydraulic Pump module 16; Hydraulic Pump is started working, and passes through Hydraulic Pump oil pipe 22 pumps to hydraulic valve 18 with driving hydraulic pressure oscillating cylinder 19 required hydraulic oil from hydraulic reservoir 17, and control system modulated pressure valve body 18 is in the position, a left side among Fig. 4 simultaneously; Hydraulic oil drives 19 rotations of hydraulic pressure oscillating cylinder; Under the drive of hydraulic pressure oscillating cylinder 19, first folder is grabbed 2 and is seen clickwise backward according to the past shown in Figure 2, and the 3rd folder is grabbed 4 also rotations in the direction of the clock under the drive of the power drive shaft 21 that links to each other with hydraulic pressure oscillating cylinder 19 simultaneously.Because second folder is grabbed the 3 and the 4th folder and grabbed 5 and grab the 2 and the 3rd folder with first folder respectively and grab 4 and be meshed through gear 1, so second press from both sides and grab 5 of the 3 and the 4th jaws and mesh jaws by anticlockwise direction and two and rotate synchronously, two pairs of jaws that lay regenerative apparatus so just open.
The clamping process of jaw is opposite with the hand of rotation that opens two pairs of jaws in the process; But the course of action of each parts is then identical substantially; Different is that the clamping process control system need be opened the right path of hydraulic valve 18; Then hydraulic pressure oscillating cylinder 19 hand of rotation with open in the opposite directionly, accomplish the clamping process.After two pairs of jaws are clamped onto the movable termination of two low sides and are in contact with one another; Adhesive electromagnet 13 energisings on the two pairs of jaws produce magnetic force; Make two pairs of mutual adhesives of jaw; Both first jaw 2 and second jaw, 3, the three jaws 4 and 5 mutual adhesives of the 4th jaw, assurance lays the reliability of removal process clamping.
Lay with removal process in; The gravity of autonomous submarine navigation device 1 is delivered on the bearing beam body 21 that is attached thereto through two pairs of jaws; And then be delivered on the first suspension ring 5 with bearing beam body 21 Joints, finally be delivered on the crane through two hoisting wireropes 8 and second hoisting ring 7.
The utility model can realize that the staff can lay and reclaim operation to autonomous submarine navigation device on lash ship, is employed in the mechanical regenerative apparatus that has autonomous opening and closing ability under the teleaction and realizes laying of autonomous submarine navigation device and removal process.The utility model carries the energy voluntarily, adopts hydraulic efficiency pressure system to realize the opening and closing action of mechanism, has greatly reduced autonomous submarine navigation device and has laid the danger with removal process.
Claims (10)
1. an autonomous submarine navigation device lays regenerative apparatus; It is characterized in that: comprise bearing beam body (24), mechanical handgrip, lifting appliance, battery module (14), control and communication module (15) and hydraulic efficiency pressure system; Wherein the two ends of bearing beam body (24) are respectively equipped with a mechanical handgrip; Said battery module (14) is installed in bearing beam body (24) and goes up, for the said regenerative apparatus that lays power is provided; Said control and communication module (15) and hydraulic efficiency pressure system are installed in respectively on the bearing beam body (24); And link to each other with battery module (14) respectively, control and communication module (15) receive the control command that the staff sends on the lash ship, drive the mechanical handgrip synchronous on-off or the clamping at two ends through hydraulic efficiency pressure system; Said bearing beam body (24) is provided with the lifting appliance that is connected with the lash ship crane.
2. by the regenerative apparatus that lays of the said autonomous submarine navigation device of claim 1, it is characterized in that: said bearing beam body (24) is provided with damping inflating rubber pad (23) with autonomous submarine navigation device (1) bottom face in contact.
3. by the regenerative apparatus that lays of claim 1 or 2 said autonomous submarine navigation devices; It is characterized in that: the mechanical handgrip structure at said bearing beam body (24) two ends is identical; Include two jaws; One end of each jaw is provided with gear (11), and the other end is provided with and said battery module (14) bonded assembly adhesive electromagnet (13); Gear on two jaws of mechanism's handgrip is meshing with each other; Two jaws that are positioned at a side in two mechanism's handgrips link to each other with said hydraulic efficiency pressure system respectively, are driven by hydraulic efficiency pressure system, and two jaws that are positioned at opposite side in two mechanism's handgrips are synchronized with the movement through the gear meshing transmission.
4. by the regenerative apparatus that lays of the said autonomous submarine navigation device of claim 3; It is characterized in that: said each jaw is semicircle; Two jaws of the same end of bearing beam body (24) are in clamped condition and form and the corresponding circle of said autonomous submarine navigation device (1) outline, and each jaw and the contacted inboard of said autonomous submarine navigation device (1) all scribble rubber layer.
5. by the regenerative apparatus that lays of the said autonomous submarine navigation device of claim 3; It is characterized in that: the mechanical gripping hand of said bearing beam body (24) one ends comprises first jaw (2) and second jaw (3); The mechanical gripping hand of the other end comprises the 3rd jaw (4) and the 4th jaw (5); Wherein the gear (11) on first jaw (2) is installed in the end face of said bearing beam body (24) one ends through active rotation axle (9); Gear (11) on second jaw (3) is installed in the end face of said bearing beam body (24) one ends through passive S. A. (10), said active rotation axle (9) pass bearing beam body (24) one ends end face, link to each other with hydraulic efficiency pressure system; Gear (11) on said the 3rd jaw (4) is installed in the end face of said bearing beam body (24) other end through power drive shaft (21); Gear (11) on the 4th jaw (5) is installed in the end face of said bearing beam body (24) other end through passive S. A. (10), this power drive shaft (21) pass bearing beam body (24) other end end face, link to each other with hydraulic efficiency pressure system.
6. by the regenerative apparatus that lays of claim 1 or 2 said autonomous submarine navigation devices; It is characterized in that: said hydraulic efficiency pressure system comprises motor and Hydraulic Pump module (16), hydraulic reservoir (17), hydraulic valve (18) and hydraulic pressure oscillating cylinder (19); Wherein motor and Hydraulic Pump module (16) are connected with control and communication module (15) with battery module (14) respectively; The inlet of Hydraulic Pump is communicated with hydraulic reservoir (17) in said motor and the Hydraulic Pump module (16); Outlet is communicated with hydraulic valve (18) through Hydraulic Pump oil pipe (22); Said hydraulic pressure oscillating cylinder (19) is communicated with hydraulic valve (18) through hydraulic pressure oscillating cylinder oil pipe (20), and the mechanical handgrip at said bearing beam body (24) two ends is connected with hydraulic pressure oscillating cylinder (19) respectively, through hydraulic pressure oscillating cylinder (19) drive folding or close.
7. by the regenerative apparatus that lays of the said autonomous submarine navigation device of claim 6, it is characterized in that: said hydraulic valve (18) is the solenoid directional control valve of 3-position 4-way.
8. by the regenerative apparatus that lays of claim 1 or 2 said autonomous submarine navigation devices; It is characterized in that: said lifting appliance comprises the first suspension ring (6), second hoisting ring (7) and hoisting wirerope (8); Wherein the first suspension ring (6) are installed on the bearing beam body (24); One end of said hoisting wirerope (8) is connected with the first suspension ring (6) through second hoisting ring (7), and the other end passes through second hoisting ring (7) and is connected with crane on the lash ship.
9. by the regenerative apparatus that lays of claim 1 or 2 said autonomous submarine navigation devices, it is characterized in that: the two ends of said bearing beam body (24) are respectively equipped with only swings suspension ring (12), and each only swings suspension ring (12) all is that frapping line is arranged.
10. by the regenerative apparatus that lays of claim 1 or 2 said autonomous submarine navigation devices; It is characterized in that: protective case (25) is installed on the said bearing beam body (24), and battery module (14), control and communication module (15) and hydraulic efficiency pressure system all are positioned at said protective case (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205496359U CN202379064U (en) | 2011-12-26 | 2011-12-26 | Launching and retrieval device for autonomous underwater vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205496359U CN202379064U (en) | 2011-12-26 | 2011-12-26 | Launching and retrieval device for autonomous underwater vehicle |
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| CN202379064U true CN202379064U (en) | 2012-08-15 |
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| CN2011205496359U Expired - Lifetime CN202379064U (en) | 2011-12-26 | 2011-12-26 | Launching and retrieval device for autonomous underwater vehicle |
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| CN103171746A (en) * | 2011-12-26 | 2013-06-26 | 中国科学院沈阳自动化研究所 | Launching and recovery device for self-government underwater vehicle |
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| CN103171746B (en) * | 2011-12-26 | 2015-07-29 | 中国科学院沈阳自动化研究所 | A kind of Autonomous Underwater aircraft lay regenerative apparatus |
| CN103112561B (en) * | 2012-11-07 | 2015-05-20 | 哈尔滨工程大学 | Under-actuated AUV (Autonomous Underwater Vehicle) underwater recycling device |
| CN103112561A (en) * | 2012-11-07 | 2013-05-22 | 哈尔滨工程大学 | Under-actuated AUV (Autonomous Underwater Vehicle) underwater recycling device |
| CN104890835A (en) * | 2015-06-09 | 2015-09-09 | 哈尔滨工程大学 | Submersible vehicle recycling and laying device capable of recycling and laying at two stages |
| CN107848610A (en) * | 2015-07-30 | 2018-03-27 | Mku有限责任公司 | For launching and withdrawing the lifting device of Underwater Ships or torpedo |
| RU2689050C2 (en) * | 2016-05-11 | 2019-05-23 | Федеральное государственное казенное военное образовательное учреждение высшего образования "Военный учебно-научный центр Военно-Морского Флота "Военно-морская академия им. Адмирала Флота Советского Союза Н.Г. Кузнецова" | Complex for lifting sunken objects from under ice |
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| CN110775200A (en) * | 2019-10-23 | 2020-02-11 | 上海交通大学 | AUV quick laying and recovering device under high sea condition |
| CN110775200B (en) * | 2019-10-23 | 2021-06-11 | 上海交通大学 | AUV quick laying and recovering device under high sea condition |
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