CN203497158U - Multifunctional lifting underground overhauling platform - Google Patents

Multifunctional lifting underground overhauling platform Download PDF

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Publication number
CN203497158U
CN203497158U CN201320566646.7U CN201320566646U CN203497158U CN 203497158 U CN203497158 U CN 203497158U CN 201320566646 U CN201320566646 U CN 201320566646U CN 203497158 U CN203497158 U CN 203497158U
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CN
China
Prior art keywords
bench board
flange
under water
lifting
bracket
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn - After Issue
Application number
CN201320566646.7U
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Chinese (zh)
Inventor
俞照辉
闫国华
李颖
李玮
叶琛
冯利法
文忠
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Nuclear Power Plant Service Co Ltd
Original Assignee
State Nuclear Power Plant Service Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by State Nuclear Power Plant Service Co Ltd filed Critical State Nuclear Power Plant Service Co Ltd
Priority to CN201320566646.7U priority Critical patent/CN203497158U/en
Application granted granted Critical
Publication of CN203497158U publication Critical patent/CN203497158U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model provides a multifunctional lifting underground overhauling platform, which comprises a rack and a lifting mechanism arranged on the rack, wherein the lifting mechanism is connected with a lifting rack, and drives the lifting rack to move up and down; a workbench is fixed on the lifting rack. The multifunctional lifting underground overhauling platform can be used as an operating platform for the inner underground overhauling of a nuclear reactor pressure vessel as well as an experimental platform for the development of an overhauling technology, and can be used instead of a part of auxiliary parts of overhauling equipment, so that own structural design of the overhauling equipment is simplified; the underground overhauling platform can be adapted to an underground operating environment of a nuclear power overhauling site, is provided with rich fixed interfaces, can be compatible with a plurality of pieces of overhauling equipment, is low in underground lifting resistance and free of operation dead space, can stay at any position in a depth direction, and can be positively and reversely arranged; therefore, the shortcomings of a conventional underground operating rack in nuclear power application can be overcome.

Description

Elevating type multifunctional is inspection platform under water
Technical field
The utility model relates to a kind of elevating type multifunctional inspection platform under water.
Background technology
Nuclear power plant reactor pressure container, adapter, in-pile component etc., in operational process, all the time in high temperature, high pressure and high radiation environment, inner impact of also bearing high-velocity flow, completely likely because there is damage and failure in severe operating mode.If can keep in repair these damages or failure site in time, can significantly improve generating efficiency and the safety in power station.Yet its maintenance activity is very special, often need in the underwater environment of high radiation, implement, operation relates to the various technology such as welding, cutting, non-destructive test, video monitoring and Long-distance Control, to equipment and process, requires very high.Therefore, need a kind of multi-functional inspection platform under water, be used for fixing, install and transport the repair apparatus of various functions, and can realize the location of depth direction, with this, can greatly simplify the structure of repair apparatus self.
At present, most reactor pressure vessel repair apparatus all carries bearing or underwater propulsion power system both at home and abroad, and relies on these accessories to be fixed or approach maintenance region, makes repair apparatus complex structure, and weight is larger.Existing relevant inspection platform is under water mainly the applied environment based on experimental study or ocean engineering, if be applied in nuclear station particular surroundings, remains in following shortcoming:
1, utilize hydraulic-driven, and oil pipe directly contacts with water, when on-the-spot for nuclear power, have the risk of polluting a circuit cools agent;
2, hydraulic gear and lifting chassis are placed in the bottom of whole platform, occupy larger working space, make repair apparatus cannot touch vessel bottom head, form operation dead angle;
3, only as jig, use, do not consider several work equipment as cutting under water, machine such as adds at the equipment under water flexibility installs, and can only install by forward, poor with nuclear power repair apparatus compatibility;
4, lifting table under water during lifting resistance larger.
Utility model content
The shortcoming of prior art in view of the above, the purpose of this utility model is to provide a kind of elevating type multifunctional inspection platform under water, for solving the problem that stand can not be applicable to nuclear station particular surroundings of overhauling of the prior art under water.
For achieving the above object and other relevant objects, the utility model provides a kind of elevating type multifunctional inspection platform under water, it comprises frame and is located at the lifting mechanism in frame, lifting mechanism is connected with lift platform, lifting mechanism drives lift platform to move up and down, and is fixed with bench board on lift platform.
Preferably, frame comprises the upper bracket that is positioned at lift platform top and the lower bracket that is positioned at lift platform below, and upper bracket is fixedly connected with by a plurality of support posts with lower bracket.Further preferably, lifting mechanism comprises a plurality of leading screws that circumferentially distribute around bench board, each leading screw rotates around axis by a driven by motor, leading screw is successively through upper bracket, lift platform, lower bracket, on leading screw, cover has feed screw nut, feed screw nut and lift platform are fixed, and between leading screw and upper bracket, are provided with radial bearing, between leading screw and lower bracket, are provided with axial-thrust bearing.Further preferred, motor via reducer is connected with coupler, and coupler is connected with leading screw, and motor via reducer, coupler drive leading screw to rotate around axis.
Preferably, bench board comprises a bench board dish.Preferably another kind of, bench board comprises at least two bench board dishes, and bench board dish is arranged in order from top to bottom, between adjacent bench board dish, by a plurality of pipe links, connects, and length of connecting rod is adjustable.
Further preferably, bench board dish comprises ring and bench board outer shroud in bench board inner disc, bench board, and bench board middle ring sleeve is on described bench board inner disc, on bench board exterior ring cap encircles in bench board.Further preferred, the inner peripheral surface of bench board outer shroud stretches to along being circumferentially with the first flange encircling in bench board, the outer circumference surface encircling in bench board is along being circumferentially with the second flange that stretches to bench board outer shroud, the corresponding surface of described the first flange, the second flange is bonded to each other, and the first flange, the second flange are connected by a plurality of bolt of rear end plates.Another kind is further preferred, the inner peripheral surface encircling in bench board is along being circumferentially with the 3rd flange that stretches to bench board inner disc, the outer circumference surface of bench board inner disc stretches to along being circumferentially with the 4th flange encircling in bench board, the corresponding surface of the 3rd flange, the 4th flange is bonded to each other, and the 3rd flange, the 4th flange are connected by a plurality of bolt of rear end plates.
Further preferably, bench board dish is provided with a plurality of through holes.
Such scheme further preferably, the middle part of lift platform is provided with the hollow bulb running through up and down, bench board is placed in hollow bulb, bench board is overlapped on lift platform by a plurality of locating dowel pins.
As mentioned above, the utility model elevating type multifunctional is inspection platform under water, has following beneficial effect:
This elevating type multifunctional is inspection platform under water, not only can be as the job platform overhauling under nuclear reactor pressure container internal water, and can be as the experiment porch of service technique exploitation, its application can substitute the part accessory of repair apparatus, thereby simplifies the structure design of repair apparatus self.This under water inspection platform can adapt to the under-water operation environment of nuclear power Overhaul site, and there is abundant fixed interface, can compatible multiple repair apparatus, lifting resistance is little under water, and can stop in any position of depth direction.Therefore, can make up the deficiency of current under-water operation stand in nuclear power application.
Accompanying drawing explanation
Fig. 1 is shown as the utility model elevating type multifunctional structural representation of inspection platform under water.
Fig. 2 is shown as the structural representation of a kind of embodiment of the bench board of inspection platform under water of the elevating type multifunctional shown in Fig. 1.
Fig. 3 be shown as the elevating type multifunctional shown in Fig. 2 under water the A-A of the bench board of inspection platform to section-drawing.
Fig. 4 be shown as the elevating type multifunctional shown in Fig. 2 under water the B-B of the bench board of inspection platform to section-drawing.
Fig. 5 is shown as the structural representation of the another kind of embodiment of the bench board of inspection platform under water of the elevating type multifunctional shown in Fig. 1.
Element numbers explanation
11 upper bracket
12 lower bracket
13 support posts
14 top fixed bearings
15 bottom fixed bearings
21 leading screws
22 motors
23 feed screw nuts
24 radial bearings
25 axial-thrust bearings
26 reductors
27 coupler
3 lift platforms
31 hollow bulbs
4 bench board
41 bench board dishes
411 bench board inner discs
4111 the 4th flanges
In 412 bench board, encircle
4121 second flanges
4122 the 3rd flanges
413 bench board outer shrouds
4131 first flanges
42 pipe links
The specific embodiment
By particular specific embodiment, embodiment of the present utility model is described below, person skilled in the art scholar can understand other advantages of the present utility model and effect easily by the disclosed content of this specification sheets.
Refer to Fig. 1 to Fig. 5.Notice, appended graphic the illustrated structure of this specification sheets, ratio, size etc., equal contents in order to coordinate specification sheets to disclose only, for person skilled in the art scholar, understand and read, not in order to limit the enforceable qualifications of the utility model, therefore the technical essential meaning of tool not, the adjustment of the modification of any structure, the change of proportionate relationship or size, do not affecting under the effect that the utility model can produce and the object that can reach, all should still drop on the technology contents that the utility model discloses and obtain in the scope that can contain.Simultaneously, in this specification sheets, quote as " on ", the term of D score, " left side ", " right side ", " centre " and " " etc., also only for ease of understanding of narrating, but not in order to limit the enforceable scope of the utility model, the change of its relativeness or adjustment, under without essence change technology contents, when being also considered as the enforceable category of the utility model.
As shown in Figure 1, the utility model provides a kind of elevating type multifunctional inspection platform under water, and it comprises frame and be located at the lifting mechanism in frame, and lifting mechanism is connected with lift platform 3, lifting mechanism drives lift platform 3 to move up and down, and is fixed with bench board 4 on lift platform 3.This under water inspection platform put into after water, now can control lift platform 3 by lifting mechanism and move up and down, thereby control bench board 4, move up and down, the upkeep operation equipment that makes to be positioned on bench board 4 is fixed on correct position, and carries out service work.
Frame comprises the upper bracket 11 that is positioned at lift platform 3 tops and the lower bracket 12 that is positioned at lift platform 3 belows, and upper bracket 11 is fixedly connected with by a plurality of support posts 13 with lower bracket 12.Support post 13 upper ends are fixed with top fixed bearing 14, and support post 13 lower ends are fixed with bottom fixed bearing 15.The upper bracket 11 of frame, lower bracket 12 are supported on reactor pressure vessel in-pile component supporting place or simulation reactor pit, for carrying bench board 4 and being positioned at the weight of apparatus for examination and repair on bench board 4 etc.This frame adopts the tower structure of upper bracket 11, lower bracket 12 and support post 13 compositions, can set arbitrarily the lifting position of bench board 4, without working angle.
Lifting mechanism comprises a plurality of leading screws 21 that circumferentially distribute around bench board 4, each leading screw 21 is driven and is rotated around axis by a motor 22, leading screw 21 is successively through upper bracket 11, lift platform 3, lower bracket 12, on leading screw 21, cover has feed screw nut 23, feed screw nut 23 is fixing with lift platform 3, between leading screw 21 and upper bracket 11, be provided with radial bearing 24, between leading screw 21 and lower bracket 12, be provided with axial-thrust bearing 25.Wherein, motor 22 can be connected with coupler 27 by reductor 26, and coupler 27 is connected with leading screw 21, and motor 22 drives leading screw 21 to rotate around axis by reductor 26, coupler 27.Wherein, leading screw 21 can be ball-screw, also can be trapezoidal threaded lead screw.
Motor 22 drives leading screw 21 to rotate around axis, because feed screw nut 23 and lift platform 3 are fixed, rotatablely moving of leading screw 21 is converted into the up-and-down movement of lift platform 3 under the combined action of radial bearing 24, feed screw nut 23, axial-thrust bearing 25, leading screw 21 makes feed screw nut 23 move up and down along leading screw 21 in rotary course, thereby drives lift platform 3, bench board 4 to move up and down together.This is when inspection platform is put into water under water, and motor 22 parts are positioned at water surface top all the time, have avoided the dangerous parts such as electric wire to contact with water, safe and reliable.This lifting mechanism passes through to adopt leading screw 21 transmissions, stable drive, and positioning precision is high, has auto-lock function simultaneously, can realize reliably and berthing.
This lifting mechanism, except adopting each leading screw all to use a motor-driven mode, also can adopt by devices such as commutator and coupler all leading screws are all linked together, then the mode that adopts single motor to drive operates.This lifting mechanism is except being used motor to drive the mode of lead screw transmission, can also use other realizations can realize the type of belt drive of lift platform 3 liftings, as driven steel wire rope transmission, the transmission of motor-driven gear bar, the transmission of motor chain drive-belt by winch, providing power etc. by nuclear power top crane.
Figure 2 shows that a kind of embodiment of bench board 4, bench board 4 comprises a bench board dish 41.Figure 5 shows that the another kind of embodiment of bench board 4, bench board 4 comprises at least two bench board dishes 41, bench board dish 41 is arranged in order from top to bottom, connect, and the spacing between connected bench board dish 41 can regulate by pipe link 42 between adjacent bench board dish 41 by a plurality of pipe links 42.Adopt the bench board dish 41 of bilayer or multilayer to form bench board 4, many implements or analogue body can be installed simultaneously, equipment can be placed by forward, also can hang inversion, meets various positions and interferes to job requirements and the space environment of simulating various scenes.
As shown in Figure 2 and Figure 5, bench board dish 41 comprises and in bench board inner disc 411, bench board, encircles 412 and bench board outer shroud 413, encircles 412 and be enclosed within on bench board inner disc 411 in bench board, and bench board outer shroud 413 is enclosed within bench board and encircles on 412.Bench board dish 41 can be according to the needs of repair apparatus, to encircling 412 in bench board inner disc 411, bench board, bench board outer shroud 413 arranges in pairs or groups arbitrarily.For example remove bench board inner disc 411, can pass through for other self-powered robot for overhauling.This bench board 4 by combined nesting formula demountable structure, for installation exercise equipment facilitates, locks part, universal chuck, is that the standing finishes such as ring, track can meet the installation requirements of various implements, enriched operation type.
As shown in Figure 3, the inner peripheral surface of bench board outer shroud 413 stretches to along being circumferentially with the first flange 4131 that encircles 412 in bench board, in bench board, encircle 412 outer circumference surface along being circumferentially with the second flange 4121 that stretches to bench board outer shroud 413, the corresponding surface of the first flange 4131, the second flange 4121 is bonded to each other, and the first flange 4131, the second flange 4121 are connected by a plurality of bolt of rear end plates 414.Bench board outer shroud 413 with in bench board, encircle 412 and be connected by running through the bolt of rear end plate 414 of the first flange 4131, the second flange 4121, safe and reliable, and needs by bench board outer shroud 413 with in bench board, encircle 412 when separated, as long as remove bolt of rear end plate 414.
As shown in Figure 4, in bench board, encircle 412 inner peripheral surface along being circumferentially with the 3rd flange 4122 that stretches to bench board inner disc 411, the outer circumference surface of bench board inner disc 411 stretches to along being circumferentially with the 4th flange 4111 that encircles 412 in bench board, the corresponding surface of the 3rd flange 4122, the 4th flange 4111 is bonded to each other, and the 3rd flange 4122, the 4th flange 4111 are connected by a plurality of bolt of rear end plates 414.In bench board, encircling 412 is connected by running through the bolt of rear end plate 414 of the 3rd flange 4122, the 4th flange 4111 with bench board inner disc 411, safe and reliable, and at needs, will in bench board, encircle 412 when separated with bench board inner disc 411, as long as remove bolt of rear end plate 414.
The middle part of lift platform 3 is provided with the hollow bulb 31 running through up and down, and bench board 4 is placed in hollow bulb 31, and bench board 4 is overlapped on lift platform 3 by a plurality of locating dowel pins.Bench board dish 41 is provided with a plurality of through holes 415.This through hole 415 is standard through-hole, can lock part and universal chuck simultaneously various forms of repair apparatus and test specimen are carried out to clamping.Another this through hole 415 also plays the effect of draining, reduces this inspection platform resistance of water during rise and fall in water under water, has reduced power consumption, has improved lifting efficiency.
Bench board dish 41 is provided with a plurality of suspension ring 416.Suspension ring 416 are mainly used when installation, dismantlement work platform 4.
Above-mentioned bench board dish 41 can be circle, also can be the shape that ellipse, square, irregular shape etc. are adapted to Overhaul site.When bench board dish 41 is while being circular, lift platform 3 is preferably annular, and bench board dish 41 is positioned at the circular hollow bulb 31 of lift platform 3, and upper bracket 11, lower bracket 12 are also and the sizable annular of lift platform 3.
When the exploitation of nuclear station maintenance craft or site examining and repairing, the circumferential pressure transmitting by top fixed bearing 14 and bottom fixed bearing 15 is fixed on frame on reactor pressure vessel inside or simulation reactor pit together with lifting mechanism.After this inspection platform installation under water, bench board 4 is risen to ground with high, and locked, utilize auxiliary hanging device to be positioned over bench board 4 from top by repair apparatus and relevant test specimen, determine behind installation site, utilize locking piece and universal chuck that repair apparatus is fixed, also can mounting guide rail, for taking over the service kit of safe end weld seam.Lifting mechanism is positioned to bench board 4 after required operating altitude together with repair apparatus, locked current height, and equipment starts operation.During work, can carry out at any time as required clamping and the replacing of service kit, test specimen etc.
This elevating type multifunctional under water inspection platform by this inspection platform of frame support of tower structure, lifting mechanism adopts the motor 22 of overhead to drive, by leading screw 21 transmissions, realize the vertical lift of bench board 4, required accurate location and stop self-locking while realizing operation; Bench board 4 is covered with the standard through-hole 415 of each specification, lock part, universal chuck simultaneously, be the standing finishes such as ring, track, in order to realize the optional position of multiple upkeep operation equipment and the installation of both forward and reverse directions, standard through-hole 415 plays drainage simultaneously, the resistance of water reduce power consumption while reducing lifting; Combination annulus nested designs and the double-decker of bench board 4, can simulated field real space and various maintenance position to, and do not disturb passing through of some self-powered robot for overhauling.
In sum, the utility model elevating type multifunctional is inspection platform under water, not only can be as the job platform overhauling under nuclear reactor pressure container internal water, and can be as the experiment porch of service technique exploitation, its application can substitute the part accessory of repair apparatus, comprise large-scale support and underwater propulsion system, thereby simplify the structure design of repair apparatus self.This under water inspection platform can adapt to the under-water operation environment of nuclear power Overhaul site, and there is abundant fixed interface, can compatible multiple repair apparatus, lifting resistance is little under water, and can stop in any position of depth direction.Therefore, can make up the deficiency of current under-water operation stand in nuclear power application.So the utility model has effectively overcome various shortcoming of the prior art and tool high industrial utilization.
Above-described embodiment is illustrative principle of the present utility model and effect thereof only, but not for limiting the utility model.Any person skilled in the art scholar all can, under spirit of the present utility model and category, modify or change above-described embodiment.Therefore, have in technical field under such as and conventionally know that the knowledgeable modifies or changes not departing from all equivalences that complete under spirit that the utility model discloses and technological thought, must be contained by claim of the present utility model.

Claims (11)

1. elevating type multifunctional inspection platform under water, it is characterized in that: it comprises frame and is located at the lifting mechanism in described frame, described lifting mechanism is connected with lift platform, and described lifting mechanism drives described lift platform to move up and down, and on described lift platform, is fixed with bench board.
2. elevating type multifunctional according to claim 1 inspection platform under water, it is characterized in that: described frame comprises the upper bracket that is positioned at described lift platform top and the lower bracket that is positioned at described lift platform below, and described upper bracket is fixedly connected with by a plurality of support posts with lower bracket.
3. elevating type multifunctional according to claim 2 inspection platform under water, it is characterized in that: described lifting mechanism comprises a plurality of leading screws that circumferentially distribute around described bench board, each leading screw rotates around axis by a driven by motor, described leading screw is successively through described upper bracket, lift platform, lower bracket, on described leading screw, cover has feed screw nut, described feed screw nut and described lift platform are fixed, between described leading screw and upper bracket, be provided with radial bearing, between described leading screw and lower bracket, be provided with axial-thrust bearing.
4. elevating type multifunctional according to claim 3 inspection platform under water, it is characterized in that: described motor via reducer is connected with coupler, described coupler is connected with described leading screw, and described motor drives leading screw to rotate around axis by described reductor, coupler.
5. elevating type multifunctional according to claim 1 inspection platform under water, is characterized in that: described bench board comprises a bench board dish.
6. elevating type multifunctional according to claim 1 inspection platform under water, is characterized in that: described bench board comprises at least two bench board dishes, and described bench board dish is arranged in order from top to bottom, between adjacent bench board dish, by a plurality of pipe links, connects.
7. according to the inspection platform under water of the elevating type multifunctional described in claim 5 or 6, it is characterized in that: described bench board dish comprises ring and bench board outer shroud in bench board inner disc, bench board, described bench board middle ring sleeve is on described bench board inner disc, on described bench board exterior ring cap encircles in described bench board.
8. elevating type multifunctional according to claim 7 inspection platform under water, it is characterized in that: the inner peripheral surface of described bench board outer shroud stretches to along being circumferentially with the first flange encircling in described bench board, the outer circumference surface encircling in described bench board is along being circumferentially with the second flange that stretches to described bench board outer shroud, the corresponding surface of described the first flange, the second flange is bonded to each other, and described the first flange, the second flange are connected by a plurality of bolt of rear end plates.
9. elevating type multifunctional according to claim 7 inspection platform under water, it is characterized in that: the inner peripheral surface encircling in described bench board is along being circumferentially with the 3rd flange that stretches to described bench board inner disc, the outer circumference surface of described bench board inner disc stretches to along being circumferentially with the 4th flange encircling in described bench board, the corresponding surface of described the 3rd flange, the 4th flange is bonded to each other, and described the 3rd flange, the 4th flange are connected by a plurality of bolt of rear end plates.
10. according to the inspection platform under water of the elevating type multifunctional described in claim 5 or 6, it is characterized in that: described bench board dish is provided with a plurality of through holes.
11. according to the inspection platform under water of the elevating type multifunctional described in claim 1 to 6 any one, it is characterized in that: the middle part of described lift platform is provided with the hollow bulb running through up and down, described bench board is placed in described hollow bulb, and described bench board is overlapped on described lift platform by a plurality of locating dowel pins.
CN201320566646.7U 2013-09-12 2013-09-12 Multifunctional lifting underground overhauling platform Withdrawn - After Issue CN203497158U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320566646.7U CN203497158U (en) 2013-09-12 2013-09-12 Multifunctional lifting underground overhauling platform

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320566646.7U CN203497158U (en) 2013-09-12 2013-09-12 Multifunctional lifting underground overhauling platform

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103482045A (en) * 2013-09-12 2014-01-01 国核电站运行服务技术有限公司 Lifting-type multifunctional underwater maintenance platform
CN107697247A (en) * 2017-09-18 2018-02-16 哈尔滨工程大学 A kind of underwater release and recovery AUV device
CN109911151A (en) * 2017-12-13 2019-06-21 中国科学院沈阳自动化研究所 A kind of underwater mobile vehicle pushing device
CN111792208A (en) * 2020-06-22 2020-10-20 西北工业大学 Be used for active recovery tube of AUV
CN111792208B (en) * 2020-06-22 2021-12-28 西北工业大学 Be used for active recovery tube of AUV

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103482045A (en) * 2013-09-12 2014-01-01 国核电站运行服务技术有限公司 Lifting-type multifunctional underwater maintenance platform
CN103482045B (en) * 2013-09-12 2015-12-09 国核电站运行服务技术有限公司 Lifting-type multifunctional underwater maintenance platform
CN107697247A (en) * 2017-09-18 2018-02-16 哈尔滨工程大学 A kind of underwater release and recovery AUV device
CN107697247B (en) * 2017-09-18 2019-09-27 哈尔滨工程大学 A kind of device releasing and recovering AUV under water
CN109911151A (en) * 2017-12-13 2019-06-21 中国科学院沈阳自动化研究所 A kind of underwater mobile vehicle pushing device
CN109911151B (en) * 2017-12-13 2020-12-15 中国科学院沈阳自动化研究所 Underwater moving carrier pushing device
CN111792208A (en) * 2020-06-22 2020-10-20 西北工业大学 Be used for active recovery tube of AUV
CN111792208B (en) * 2020-06-22 2021-12-28 西北工业大学 Be used for active recovery tube of AUV

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