CN203581350U - Line-throwing appliance mechanism for recycling autonomous underwater vehicle - Google Patents
Line-throwing appliance mechanism for recycling autonomous underwater vehicle Download PDFInfo
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- CN203581350U CN203581350U CN201320785103.4U CN201320785103U CN203581350U CN 203581350 U CN203581350 U CN 203581350U CN 201320785103 U CN201320785103 U CN 201320785103U CN 203581350 U CN203581350 U CN 203581350U
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- assembly
- autonomous underwater
- firer
- cable
- cover plate
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- 238000004064 recycling Methods 0.000 title abstract description 5
- 238000007789 sealing Methods 0.000 claims abstract description 14
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 25
- 238000012856 packing Methods 0.000 claims description 24
- 239000000463 material Substances 0.000 claims description 19
- 238000010304 firing Methods 0.000 claims description 16
- 239000011521 glass Substances 0.000 claims description 14
- 238000005245 sintering Methods 0.000 claims description 13
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 8
- 229910052802 copper Inorganic materials 0.000 claims description 8
- 239000010949 copper Substances 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 8
- 230000001141 propulsive effect Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 abstract description 4
- 238000005422 blasting Methods 0.000 abstract 5
- 230000000149 penetrating effect Effects 0.000 description 12
- 238000011084 recovery Methods 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 238000007667 floating Methods 0.000 description 4
- 239000003721 gunpowder Substances 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 239000003822 epoxy resin Substances 0.000 description 2
- 238000005339 levitation Methods 0.000 description 2
- 229920000647 polyepoxide Polymers 0.000 description 2
- 239000004264 Petrolatum Substances 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000013065 commercial product Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 229940066842 petrolatum Drugs 0.000 description 1
- 235000019271 petrolatum Nutrition 0.000 description 1
- 230000037452 priming Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
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- Electric Cable Installation (AREA)
Abstract
The utility model belongs to the field of an autonomous underwater vehicle, and particularly relates to a line-throwing appliance mechanism for recycling an autonomous underwater vehicle. The line-throwing appliance mechanism comprises a base plate, a lateral wall barrel, a blasting impeller component, a jet component, a cover board, a rope, a line-throwing component and a sealing box, wherein the overall line-throwing appliance mechanism is arranged on the autonomous underwater vehicle through the base plate; two ends of the lateral wall barrel are respectively connected with the base plate and the cover board; the blasting impeller component, the jet component and the rope are respectively contained into a cavity defined by the cover board and the lateral wall barrel; the blasting impeller component is arranged on the base plate; the jet component is placed on the blasting impeller component; the line-throwing component and the sealing box are respectively arranged on the base plate; the autonomous underwater vehicle is electrically connected with the blasting impeller component through an adapter; one end of the rope is connected with the jet component; the other end of the rope is connected with the line-throwing component. The line-throwing appliance mechanism is one of the main devices, which achieves rapid recycling on a mother ship, and is safe and convenient to recycle, and the recycling process is safe.
Description
Technical field
The utility model belongs to Autonomous Underwater aircraft field, specifically a kind of line throwing appliance mechanism reclaiming for Autonomous Underwater aircraft.
Background technology
Autonomous Underwater aircraft is a kind of underwater platform that relies on the self-contained energy to carry out autonomous navigation, has important using value.Autonomous Underwater aircraft is after executing inter-related task, and it is vital completing the recovery of Autonomous Underwater aircraft conveniently, reliably, efficiently.At present, submarine navigation device, the particularly way of recycling of Large Underwater aircraft are also not quite similar.During original recovery submarine navigation device, need to first find the position of submarine navigation device, again lash ship reach submarine navigation device near, staff need to take canoe and leave lash ship lifting appliance is connected with submarine navigation device, just can complete the recovery of submarine navigation device.Adopt in this way and reclaim, when staff leaves lash ship on the one hand, personal safety is subject to certain threat; Be on the other hand submarine navigation device due to floating on the water surface, be subject to effect connecting hoisting device and the submarine navigation device of wave more difficult.In addition, it is also comparatively difficult that staff again climbs up lash ship when wave is larger, therefore be subject to very large restriction at sea when stormy waves is larger.
Utility model content
In order to overcome all difficulties of submarine navigation device removal process and to reduce staff's danger, the purpose of this utility model is to provide a kind of line throwing appliance mechanism reclaiming for Autonomous Underwater aircraft.Firer's pusher assembly of this line throwing appliance mechanism utilizes the chemical power of gunpowder to be converted into the kinetic energy of penetrating an assembly, make to penetrate an assembly and leave line throwing appliance mechanism, under the effect of buoyancy material, make to penetrate a subassembly levitation across the sea, other parts of line throwing appliance mechanism still remain under water in aircraft.Owing to penetrating an assembly, be connected with cable with line throwing appliance mechanism, therefore first cable dragged for back to lash ship and draw under the state of submarine navigation device by navigation, then on lash ship, carry out the connection of submarine navigation device and lifting appliance, just can complete the recovery of submarine navigation device.
The purpose of this utility model is achieved through the following technical solutions:
The utility model comprises chassis, sidewall cylinder, firer's pusher assembly, penetrates an assembly, cover plate, cable, shooting rope assembly and seal box, described line throwing appliance mechanism integral body is arranged in Autonomous Underwater aircraft by chassis, one end of described sidewall cylinder is connected with chassis, and the other end is provided with cover plate; Described firer's pusher assembly, penetrate an assembly and cable and be contained in respectively in the cavity that described cover plate and sidewall cylinder surround, one end of this firer's pusher assembly is arranged on chassis, described in penetrate an assembly and by the other end of firer's pusher assembly, be set in the outside of firer's pusher assembly; Described shooting rope assembly and seal box are arranged on respectively on chassis, and sealing box is provided with adapter, and described Autonomous Underwater aircraft is connected with described firer's pusher electrical component by adapter; One end of described cable with penetrate an assembly and be connected, the other end is connected with described shooting rope assembly; Describedly penetrate an assembly and cable penetrates by the effect of firer's pusher assembly, and float across the sea.
Wherein: between described cover plate and the sidewall cylinder other end, be provided with cover plate packing ring, when the thrust of firer's pusher assembly correlation assembly reaches the stress limit of described cover plate packing ring, this cover plate packing ring is cut off, and described cover plate flicks, described in penetrate an assembly and cable is ejected; In the cavity that described cover plate surrounds with sidewall cylinder, by baffle for separating, become non-interference two parts, one end of this dividing plate is arranged on described chassis, the other end and described cover plate butt, and the other end of described dividing plate has the through hole passing for cable; Described firer's pusher assembly and penetrate the side that an assembly is positioned at dividing plate, cable is coiled in the opposite side of dividing plate in the mode of spiral, one end of described cable by described through hole through, with penetrate an assembly and be connected;
Described firer's pusher assembly comprises end cover, inner piston rod, pressure vessel, firing unit, pedestal, wire and glass sintering connector, wherein pedestal is arranged on described chassis, the two ends of described pressure vessel are connected with this pedestal and end cover sealing thread respectively, described inner piston rod be contained in pressure vessel and with the inner wall sealing butt of pressure vessel; The glass sintering connector that has been threaded on described pedestal, is provided with firing unit on this glass sintering connector, and described firing unit is electrically connected to described Autonomous Underwater aircraft by wire; Described firing unit top is provided with the propulsive charge being contained in described pedestal; One end of described wire is connected with firing unit, and the other end is passed, is placed in described seal box by described chassis; Described Autonomous Underwater aircraft is electrically connected to the other end of wire by adapter; Between described end cover and one end of pressure vessel, by copper packing, seal, between the other end of described pressure vessel and pedestal, by copper packing, seal and close sealing, between described pedestal and glass sintering connector and between inner piston rod and pressure vessel inwall, by seal ring, seal respectively;
A described assembly of penetrating comprises buoyancy material overcoat and liner, wherein liner is "Ji" type, be set on described firer's pusher assembly, described buoyancy material overcoat is positioned at liner periphery, in the bottom of liner, have the hole of passing for described cable, space is left in the bottom of described buoyancy material overcoat, and one end of described cable is passed, tied up in described space by described hole; Described shooting rope assembly comprises tether cylinder base, tether backing pin and tether blind nut, and wherein one end of tether cylinder base is arranged on chassis, and the other end is threaded with tether blind nut, and described tether cylinder base is provided with for fastening the tether backing pin of cable.
Advantage of the present utility model and good effect are:
1. an assembly of penetrating of the present utility model penetrates together and penetrates with cable, penetrate an assembly and cable all across the sea floating, when Autonomous Underwater aircraft reclaims, only need use to drag for rope device cable is dragged for back to lash ship, by cable, draw Autonomous Underwater aircraft and lash ship synchronously navigates by water, then on lash ship, can realize lash ship and be connected rear recovery with Autonomous Underwater aircraft, removal process is very safe.
2. the utility model adopts the structure of the attached body separation of explosion, the chemical power of gunpowder is converted into the kinetic energy of penetrating an assembly, dependence is penetrated the thrust of an assembly and is cut off cover plate packing ring, under the effect of buoyancy material, make to penetrate a subassembly levitation across the sea, there is the advantages such as simple in structure, attached body is easy for installation, safe and reliable.
3. the propulsive charge of firer's pusher assembly of the present utility model the inside is ignited the signal control of sending by remote control Autonomous Underwater aircraft, and the simple structure of priming system has advantages of rapid, the separated safety of dispose procedure.
Accompanying drawing explanation
Fig. 1 is integral structure schematic perspective view of the present utility model;
Fig. 2 is that the utility model is taken away the perspective view after sidewall cylinder;
Fig. 3 is inner structure schematic diagram of the present utility model;
Fig. 4 is the structural representation of the utility model firer pusher assembly;
Fig. 5 is the structural representation that the utility model is penetrated an assembly;
Wherein: 1 is chassis, 2 is sidewall cylinder, 3 is firer's pusher assembly, 4 for penetrating an assembly, 5 is dividing plate, 6 is screw, 7 is nut, 8 is cover plate, 9 is cable, 10 is tether cylinder base, 11 is tether backing pin, 12 is tether blind nut, 13 is packing ring, 14 is cover plate packing ring, 15 is end cover, 16 is copper packing, 17 is inner piston rod, 18 is pressure vessel, 19 is the first seal ring, 20 is propulsive charge, 21 is firing unit, 22 is pedestal, 23 is wire, 24 is glass sintering connector, 25 is the second seal ring, 26 is copper packing seal ring, 27 is buoyancy material overcoat, 28 is liner, 29 is space, 30 is seal box, 31 is adapter.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figures 1 to 3, the utility model comprises chassis 1, sidewall cylinder 2, firer's pusher assembly 3, penetrates an assembly 4, cover plate 8, cable 9, shooting rope assembly and seal box 30, line throwing appliance of the present utility model mechanism integral body is fixed in Autonomous Underwater aircraft by chassis 1, one end of sidewall cylinder 2 (lower end) is affixed by screw 6 and nut 7 with chassis 1, and the other end (upper end) is connected with cover plate 8 by screw 6, nut 7 and cover plate packing ring 14.Cover plate 8 has surrounded cavity with sidewall cylinder 2, is provided with dividing plate 5 in cavity, and this cavity is separated into non-interference two parts by dividing plate 5; One end of dividing plate 5 (lower end) is fixed on chassis 1, the other end and cover plate 8 butts, and the other end of dividing plate 5 (upper end) has the through hole passing for cable 9.
Firer's pusher assembly 3 and penetrate the side that an assembly 4 is positioned at dividing plate 5, cable 9 and shooting rope assembly are positioned at the opposite side of dividing plate 5, one end of this firer's pusher assembly 3 is arranged on chassis 1, penetrates an assembly 4 and by the other end of firer's pusher assembly 3, is set in the outside of firer's pusher assembly 3.Shooting rope assembly and seal box 30 are separately fixed at the lower surface on chassis 1, and seal box 30 is positioned at the below of firer's pusher assembly 3, and shooting rope assembly is positioned at the below of cable 9 and is positioned at a side of seal box 30.Seal box 30 is provided with adapter 31, and Autonomous Underwater aircraft is electrically connected to firer's pusher assembly 3 by adapter 31.One end of cable 9 with penetrate an assembly 4 and be connected, the other end is connected with shooting rope assembly.Cover plate packing ring 14 is that a kind of broken pieces is cut part (when stress reaches broken pieces and cuts the stress limit of part, broken pieces is cut part and will be cut off), when the thrust of firer's pusher assembly 3 correlation assembly 4 reaches the stress limit of cover plate packing ring 4, this cover plate packing ring 4 is cut off, cover plate 8 flicks, an assembly 4 and cable 9 effect by firer's pusher assembly 3 of penetrating is ejected, and floats across the sea.
As shown in Figure 3, Figure 4, firer's pusher assembly 3 comprises end cover 15, inner piston rod 17, pressure vessel 18, firing unit 21, pedestal 22, wire 23 and glass sintering connector 24, wherein pedestal 22 is fixed on chassis 1 by screw 6, nut 7 and packing ring 13, the two ends of pressure vessel 18 are connected with this pedestal 22 and end cover 15 sealing threads respectively, between one end of end cover 15 and pressure vessel 18, by copper packing 16, seal, between the other end of pressure vessel 18 and pedestal 22, by copper packing, seal and close 26 sealings.Inner piston rod 17 is contained in pressure vessel 18, can moves vertically with respect to pressure vessel 18; Inner piston rod 17 is provided with seal groove, is equipped with the first seal ring 19 in sealing ring recess, between inner piston rod 17 and the inwall of pressure vessel 18, by the first seal ring 19, seals.The bottom midway location of the pedestal 22 glass sintering connector 24 that has been threaded, between pedestal 22 and glass sintering connector 24 by the second seal ring 25 sealings; On this glass sintering connector 24, firing unit 21 is installed, one end of wire 23 is connected with firing unit 21, the other end is passed, is placed in seal box 30 by chassis 1, seal box 30 provides a dry air pressure-resistant cabin for wire 23, and Autonomous Underwater aircraft is electrically connected to the other end of wire 23 by adapter 31.Propulsive charge 20 is housed in pedestal 22, and this propulsive charge 20 is positioned at the top of firing unit 21.
As shown in Fig. 3, Fig. 5, penetrate an assembly 4 and comprise buoyancy material overcoat 27 and liner 28, wherein liner 28 is "Ji" type, be set on the pressure vessel 18 of firer's pusher assembly 3, buoyancy material overcoat 27 is positioned at liner 28 peripheries, in the bottom of liner 28, have the hole of passing for cable 9, space 29 is left in the bottom of buoyancy material overcoat 17.The utility model buoyancy material overcoat 27 is commercial product, purchases in Qingdao Haiyang chemical research center, and buoyancy material is prior art, is micro glass bead and epoxy resin composite material.The liner 28 of penetrating an assembly 4 scribbles liquid petrolatum, is placed on the pressure vessel 18 of firer's pusher assembly 3, makes to penetrate sufficient lubrication between an assembly 4 and firer's pusher assembly 3.
Shooting rope assembly comprises tether cylinder base 10, tether backing pin 11 and tether blind nut 12, and wherein one end of tether cylinder base 10 is arranged on the lower surface on chassis 1, and the other end is threaded with tether blind nut 12, and tether cylinder base 10 is provided with for fastening the tether backing pin 11 of cable 9.Cable 9 is coiled in the opposite side of dividing plate 5 in the mode of spiral, one end of cable 9, through dividing plate 5, is passed by the interior just hole of 28 bottoms, ties up in described space 29; The other end of cable 9, through chassis 1, passes from tether cylinder base 10, beats anti-untwisting and ties up to reliably on tether backing pin 11, and be placed on the groove of tether cylinder base 10, and tether blind nut 12 is reliably tightened.
Principle of work of the present utility model is:
When Autonomous Underwater aircraft is executing after inter-related task, in the time of need to reclaiming submarine navigation device, staff is to Autonomous Underwater aircraft transmitted signal, and Autonomous Underwater aircraft passes into an initiation current excitation pulse that is greater than 1A to wire 23, and this is that firing unit 21 ignites propulsive charge 20; The gas that produces high pressure after propulsive charge 20 burnings, the chemical power of gunpowder is converted into the kinetic energy that promotes inner piston rod 17 upward movements, after inner piston rod 17 upward movements, by the thread damage of end cover 15, end cover 15 is departed from from pressure vessel 18; Then, inner piston rod 17 continues outwards to fly out under high pressure gas effect, and an assembly 4 is penetrated in drive; After the thrust of firer's propulsion component 3 liner 28 in penetrating an assembly 4, liner 28 outwards promotes buoyancy material overcoat 27; When thrust reaches the stress limit of cover plate packing ring 14, cover plate packing ring 14 is cut off, cover plate 8 is flicked, the assembly 4 of penetrating that liner 28 and buoyancy material overcoat 27 form is penetrated together, now tying up to the cable 9 of penetrating in buoyancy material overcoat 27 bottoms of an assembly 4 and the space 29 of liner 28 formation is also brought out, because the density ratio water of buoyancy material overcoat 27 is little, and can bear high pressure (60～70MPa), buoyancy material overcoat 17 and liner 28 are bonding by epoxide-resin glue, density after combination is still little than water, therefore can be across the sea floating together after transmitting.The chassis 1 of line throwing appliance mechanism is still connected in Autonomous Underwater aircraft, now Autonomous Underwater aircraft connects together by cable 9 and the assembly 4 of penetrating floating across the sea, then staff uses and drags for rope device by cable 9 and penetrate an assembly 4 and salvage back lash ship, on lash ship, draw Autonomous Underwater aircraft and realize synchronous navigation, then on lash ship, lifting appliance is connected to the recovery that can complete Autonomous Underwater aircraft with Autonomous Underwater aircraft.
Claims (9)
1. the line throwing appliance mechanism reclaiming for Autonomous Underwater aircraft, it is characterized in that: comprise chassis (1), sidewall cylinder (2), firer's pusher assembly (3), penetrate an assembly (4), cover plate (8), cable (9), shooting rope assembly and seal box (30), described line throwing appliance mechanism is whole to be arranged in Autonomous Underwater aircraft by chassis (1), one end of described sidewall cylinder (2) is connected with chassis (1), and the other end is provided with cover plate (8); Described firer's pusher assembly (3), penetrate an assembly (4) and cable (9) and be contained in respectively in the cavity that described cover plate (8) and sidewall cylinder (2) surround, it is upper that one end of this firer's pusher assembly (3) is arranged on chassis (1), described in penetrate an assembly (4) and by the other end of firer's pusher assembly (3), be set in the outside of firer's pusher assembly (3); It is upper that described shooting rope assembly and seal box (30) are arranged on respectively chassis (1), and sealing box (30) is provided with adapter (31), and described Autonomous Underwater aircraft is electrically connected to described firer's pusher assembly (3) by adapter (31); One end of described cable (9) with penetrate an assembly (4) and be connected, the other end is connected with described shooting rope assembly; A described assembly (4) and the cable (9) penetrated penetrates by the effect of firer's pusher assembly (3), and floats across the sea.
2. by the line throwing appliance mechanism reclaiming for Autonomous Underwater aircraft described in claim 1, it is characterized in that: between described cover plate (8) and sidewall cylinder (2) other end, be provided with cover plate packing ring (4), when the thrust of firer's pusher assembly (3) correlation assembly (4) reaches the stress limit of described cover plate packing ring (4), this cover plate packing ring (4) is cut off, described cover plate (8) flicks, described in penetrate an assembly (4) and cable (9) is ejected.
3. by the line throwing appliance mechanism reclaiming for Autonomous Underwater aircraft described in claim 1, it is characterized in that: in the cavity that described cover plate (8) and sidewall cylinder (2) surround, by dividing plate (5), be separated into non-interference two parts, one end of this dividing plate (5) is arranged on described chassis (1), the other end and described cover plate (8) butt, the other end of described dividing plate (5) has the through hole passing for cable (9).
4. by the line throwing appliance mechanism reclaiming for Autonomous Underwater aircraft described in claim 3, it is characterized in that: described firer's pusher assembly (3) and penetrate the side that an assembly (4) is positioned at dividing plate (5), cable (9) is coiled in the opposite side of dividing plate (5) in the mode of spiral, one end of described cable (9) by described through hole through, with penetrate an assembly (4) and be connected.
5. by the line throwing appliance mechanism reclaiming for Autonomous Underwater aircraft described in the arbitrary claim of claim 1 to 4, it is characterized in that: described firer's pusher assembly (3) comprises end cover (15), inner piston rod (17), pressure vessel (18), firing unit (21), pedestal (22), wire (23) and glass sintering connector (24), wherein pedestal (22) is arranged on described chassis (1), the two ends of described pressure vessel (18) are connected with this pedestal (22) and end cover (15) sealing thread respectively, described inner piston rod (17) is contained in pressure vessel (18), and with the inner wall sealing butt of pressure vessel (18), the glass sintering connector (24) that has been threaded on described pedestal (22), is provided with firing unit (21) on this glass sintering connector (24), and described firing unit (21) is electrically connected to described Autonomous Underwater aircraft by wire (23), described firing unit (21) top is provided with the propulsive charge (20) being contained in described pedestal (22).
6. by the line throwing appliance mechanism reclaiming for Autonomous Underwater aircraft described in claim 5, it is characterized in that: one end of described wire (23) is connected with firing unit (21), the other end is passed, is placed in described seal box (30) by described chassis (1); Described Autonomous Underwater aircraft is electrically connected to the other end of wire (23) by adapter (31).
7. by the line throwing appliance mechanism reclaiming for Autonomous Underwater aircraft described in claim 5, it is characterized in that: between described end cover (15) and one end of pressure vessel (18), by copper packing (16), seal, between the other end of described pressure vessel (18) and pedestal (22), by copper packing, seal pass (26) sealing, between described pedestal (22) and glass sintering connector (24) and between inner piston rod (17) and pressure vessel (18) inwall, by seal ring, seal respectively.
8. by the line throwing appliance mechanism reclaiming for Autonomous Underwater aircraft described in claim 1, it is characterized in that: described in penetrate an assembly (4) and comprise buoyancy material overcoat (27) and liner (28), wherein liner (28) is "Ji" type, be set on described firer's pusher assembly (3), described buoyancy material overcoat (27) is positioned at liner (28) periphery, in the bottom of liner (28), have the hole of passing for described cable (9), space (29) is left in the bottom of described buoyancy material overcoat (17), one end of described cable (9) is passed by described hole, tie up in described space (29).
9. by the line throwing appliance mechanism reclaiming for Autonomous Underwater aircraft described in claim 1, it is characterized in that: described shooting rope assembly comprises tether cylinder base (10), tether backing pin (11) and tether blind nut (12), wherein one end of tether cylinder base (10) is arranged on chassis (1), the other end is threaded with tether blind nut (12), and described tether cylinder base (10) is provided with for fastening the tether backing pin (11) of cable (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320785103.4U CN203581350U (en) | 2013-11-30 | 2013-11-30 | Line-throwing appliance mechanism for recycling autonomous underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320785103.4U CN203581350U (en) | 2013-11-30 | 2013-11-30 | Line-throwing appliance mechanism for recycling autonomous underwater vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203581350U true CN203581350U (en) | 2014-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320785103.4U Expired - Lifetime CN203581350U (en) | 2013-11-30 | 2013-11-30 | Line-throwing appliance mechanism for recycling autonomous underwater vehicle |
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| CN (1) | CN203581350U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105644739A (en) * | 2014-11-10 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Electromagnetic automatic line throwing appliance for recycling underwater robot |
| CN104670435B (en) * | 2013-11-30 | 2017-02-15 | 中国科学院沈阳自动化研究所 | Rope throwing appliance mechanism for recovering autonomous underwater vehicle |
-
2013
- 2013-11-30 CN CN201320785103.4U patent/CN203581350U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104670435B (en) * | 2013-11-30 | 2017-02-15 | 中国科学院沈阳自动化研究所 | Rope throwing appliance mechanism for recovering autonomous underwater vehicle |
| CN105644739A (en) * | 2014-11-10 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Electromagnetic automatic line throwing appliance for recycling underwater robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |