CN206243395U - Underwater robot extension and retraction system - Google Patents

Underwater robot extension and retraction system Download PDF

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Publication number
CN206243395U
CN206243395U CN201621277268.0U CN201621277268U CN206243395U CN 206243395 U CN206243395 U CN 206243395U CN 201621277268 U CN201621277268 U CN 201621277268U CN 206243395 U CN206243395 U CN 206243395U
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CN
China
Prior art keywords
oil cylinder
rotating disk
leading truck
type frame
cable
Prior art date
Application number
CN201621277268.0U
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Chinese (zh)
Inventor
衣启青
韩力
张龙
刘威
齐桂营
Original Assignee
大连华锐重工集团股份有限公司
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Application filed by 大连华锐重工集团股份有限公司 filed Critical 大连华锐重工集团股份有限公司
Priority to CN201621277268.0U priority Critical patent/CN206243395U/en
Application granted granted Critical
Publication of CN206243395U publication Critical patent/CN206243395U/en

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Abstract

The utility model discloses a kind of underwater robot extension and retraction system, A type frame can realize hinge elevating movement of the A type frame around base end by oscillating oil cylinder;Described leading truck jack includes leading truck and the steel wire rope leading block and cable leading block that are installed on leading truck;Described leading truck top rotates connection with the connection hinge on A type frame top, A type frame top two ends are respectively arranged with an adjustment oil cylinder, the described adjustment oil cylinder other end rotates connection with leading truck middle part respectively, adjustment oil cylinder stretches and realizes that connection hinge of the leading truck around A type frame top is rotated, and the cable hole that of leading truck is horizontal all the time.Underwater robot extension and retraction system described in the utility model, leading truck adjusts oil cylinder as the adjustable leading truck angle of additional connecting rod, umbilical cables is gone out cable hole and is horizontal all the time, to ensure that umbilical cables cable accurately can go out the decentralization of cable hole in edge.

Description

Underwater robot extension and retraction system

Technical field

The utility model is related to ship domain, a kind of extension and retraction system of underwater robot.

Background technology

At present, underwater robot is one of current exploration, research, the main tool of exploitation marine resources, its extension and retraction system It is the visual plant for ensureing the safe and reliable work of underwater robot.

As marine petroleum exploitation is marched to deep-sea, the requirement of underwater robot extension and retraction system adapts to various severe sea conditions, right The stability of operation, reliability requirement more and more higher.The domestic research and development of underwater robot extension and retraction system are started late, traditional folding and unfolding Systemic-function is single, and folding and unfolding load is small.

The model more than 300 of global underwater robot is planted, more than 400 manufacturers provide the various whole machines of underwater robot, zero Part and service, with the rapid raising of function and reliability, underwater robot be applied to more and more widely marine resources development, The fields such as Underwater Engineering, seabed investigation, fishing.

Current China's underwater robot industry development falls behind relatively, the current mainly quilt of technology of underwater robot extension and retraction system America and Europe's monopolization, and the supply of material of underwater robot extension and retraction system provides whole system by underwater robot manufacturing firm substantially, individually Extension and retraction system design research and development supply is little.

Underwater robot can be placed into water and be packed up under water, traditional folding and unfolding system by the extension and retraction system of underwater robot System unitary function, main deficiency has:

(1) A type frame form is single, and function is not enough, it is impossible to carry out pitching motion.

(2) guiding mechanism is unable to the water that enters of random device people and is changed accordingly.

(3) latch-up-free structure and buffer unit, underwater robot folding and unfolding are dangerous.

The content of the invention

According to technical problem set forth above, and a kind of underwater robot extension and retraction system is provided, for solving existing water The extension and retraction system of lower robot, with can not carry out pitching motion, the dangerous shortcoming of folding and unfolding.The technology hand that the utility model is used Section is as follows:

A kind of underwater robot extension and retraction system, including:Base winding mechanism and A type frame jacks;The base winding The base of mechanism is arranged on working ship;Described A type frame jacks include:A type frame, oil cylinder mechanism and leading truck radio and tape player Structure;Described oil cylinder mechanism includes:Oscillating oil cylinder and adjustment oil cylinder;The bottom of the A type frame is with base winding mechanism upper bed-plate The hinge of end rotates connection, and an oscillating oil cylinder, the swing described in two are respectively arranged with the support body of A type frame top both sides The oil cylinder other end is connected with base rotation respectively, A type frame is realized hinge of the A type frame around base end by oscillating oil cylinder Elevating movement;Described leading truck jack include leading truck and the steel wire rope leading block that is installed on leading truck and Cable leading block;Described leading truck top rotates connection, A type frame top two ends difference with the connection hinge on A type frame top An adjustment oil cylinder is provided with, the described adjustment oil cylinder other end rotates connection with leading truck middle part respectively, and adjustment oil cylinder stretches Realize that connection hinge of the leading truck around A type frame top is rotated, the cable hole that of leading truck is horizontal all the time.

Also include locking device, hydraulic motor, floating bearing and rotating disk as preferably described leading truck jack;Institute The rotating disk stated is arranged at leading truck bottom, and locking device is arranged in the terminal pad on rotating disk top, and floating bearing connects with terminal pad Connect, hydraulic motor is used to drive floating bearing to be rotated relative to A type frame horizontal continuity, is provided with locking device for controlling it to open The locked cylinder of conjunction.

It is connected with the terminal pad of rotating disk as the main structure of the preferred leading truck bottom;Described rotating disk includes turning Disk guiding, spring buffer, upper strata rotating disk, lower floor's rotating disk, rubber buffer and terminal pad;Described upper strata rotating disk and lower floor's rotating disk It is oriented to by rotating disk and spring buffer is connected, described lower floor's rotating disk bottom is provided with rubber bumper, described rubber delays Rushing utensil has multiple rubber buffers.

Preferably described leading truck middle part is provided with cable leading block oscillating oil cylinder, cable leading block swings oil The front end of cylinder is installed on cable leading block.

Include base as preferably described base winding mechanism, and be arranged at rope winch and cable on base Winch;Described rope winch and cable reel is arranged on base and connects side, described steel wire rope away from A type frame hinge Winch is installed on the top of cable reel;Rope winch for lifting by crane underwater robot, by steel wire rope and leading block It is connected with underwater robot, umbilical cables are connected to the cable reel underwater of rotating disk bottom by cable leading block On people.

Include locking cylinder, connecting rod, indicating arm and locking jaw as preferably described locking device;Described connecting rod It is fixed in terminal pad, described connecting rod two ends are separately installed with a locking jaw, between the locking jaw end described in two Locking cylinder is provided with, the locking jaw front end described in two is respectively arranged with an indicating arm.

Compared with prior art, underwater robot extension and retraction system described in the utility model, with advantages below:

1st, underwater robot extension and retraction system described in the utility model, A type frame can by oscillating oil cylinder realize A type frame around The hinge elevating movement of base end, adjustment oil cylinder stretches and realizes that connection hinge of the leading truck around A type frame top is rotated, and makes guiding The cable hole that goes out of frame is horizontal all the time.A type frame is realized to be synchronized with the movement with leading truck, i.e., A type frame luffing when, leading truck adjust Whole oil cylinder makes umbilical cables go out cable hole and is horizontal all the time, to ensure umbilical cord as the adjustable leading truck angle of additional connecting rod Cable cable accurately can go out the decentralization of cable hole in edge.

2nd, underwater robot extension and retraction system described in the utility model, leading truck middle part is provided with the swing of cable leading block Oil cylinder, the front end of cable leading block oscillating oil cylinder is installed on cable leading block.In the folding and unfolding of umbilical cables, because cable is twisted Car is nearer with the position of cable leading block, to ensure that cable correctly winds guiding, between leading truck and cable leading block Cable leading block oscillating oil cylinder is installed, by detecting cable drift angle, active control leading block pendulum angle is allowed to and cable Between realize zero angle, so as to protect cable and pulley.

3rd, underwater robot extension and retraction system described in the utility model, rotating disk is arranged at leading truck bottom, and locking device sets Rotating disk top is placed in, the locked cylinder for controlling its folding is provided with locking device.The design of locking device, improves receipts Place system outboard is anti-to wave control ability, and underwater robot locking device is set on leading truck rotating disk, is connected by Hydraulic Cylinder Lever apparatus realizes the function, and shows locking/releasing orientation by visual indication device, can effectively fix protection under water Robot.

4th, underwater robot extension and retraction system described in the utility model, upper strata rotating disk and lower floor's rotating disk by rotating disk be oriented to and Spring buffer is connected, and described lower floor's rotating disk bottom is provided with multiple rubber buffers.Rubber is installed in disk lower surface to delay Device is rushed, can allow underwater robot is even closer to be fitted on rotating disk when packing up.The setting of double-layer bumper device, it is therefore prevented that There is hard collision when underwater robot is packed up with steel construction, double-layer bumper device, effectively protection underwater robot are allowed to and turn Disk is brought into close contact.

Underwater robot extension and retraction system described in the utility model, can be arranged on engineering boat deck, with traditional folding and unfolding System compares its compact conformation, and stability is high, and safe and reliable and folding and unfolding effect is significant can realize the behaviour of marine harsh conditions Make;The utility model can be used for technical field of ships or other systems platform to carry out folding and unfolding and uses.

Brief description of the drawings

The utility model is described in further detail with reference to the accompanying drawings and detailed description.

Fig. 1 is the schematic diagram of the utility model underwater robot extension and retraction system collapsed state.

Fig. 2 is the schematic diagram of the utility model underwater robot extension and retraction system down state.

Fig. 3 is the schematic diagram of the utility model leading truck.

Fig. 4 is the schematic diagram of the utility model rotating disk.

Fig. 5 is the schematic diagram of the utility model locking device.

Wherein:1st, base, 2, A type frame, 3, leading truck, 4, adjustment oil cylinder, 5, steel wire rope leading block, 6, cable is oriented to and slides Wheel oscillating oil cylinder, 7, cable leading block, 8, rotating disk, 9, locking device, 10, oscillating oil cylinder, 11, umbilical cables, 12, steel wire rope, 13rd, rope winch, 14, cable reel, 15, hull, 16, hydraulic motor, 17, locking cylinder, 18, floating bearing, 19, rotating disk It is oriented to, 20, spring buffer, 21, upper strata rotating disk, 22, lower floor's rotating disk, 23, rubber buffer, 24, connecting rod, 25, terminal pad, 26th, indicating arm, 27, locking jaw.

Specific embodiment

As shown in Fig. 1 to Fig. 5, a kind of underwater robot extension and retraction system, including:Base winding mechanism and A type frame radio and tape players Structure;The base 1 of the base winding mechanism is arranged on working ship 15.Base 1 is connected by bolt with working ship 15.

Described A type frame jacks include:A type frame 2, oil cylinder mechanism and leading truck jack;Described oil cylinder machine Structure includes:Oscillating oil cylinder 10 and adjustment oil cylinder 4;The bottom of the A type frame 2 with the end of base winding mechanism upper bed-plate 1 hinge Connection is rotated, an oscillating oil cylinder 10 is respectively arranged with the support body of the top both sides of A type frame 2, the oscillating oil cylinder 10 described in two The other end rotates with base 1 connect respectively, A type frame 2 is realized hinge of the A type frame 2 around the end of base 1 by oscillating oil cylinder 10 Point elevating movement, so as to realize different operation amplitudes.

Described leading truck jack includes leading truck 3 and the steel wire rope leading block 5 being installed on leading truck 3 With cable leading block 7;The described top of leading truck 3 rotates connection, the top of A type frame 2 two with the connection hinge on the top of A type frame 2 End is respectively arranged with an adjustment oil cylinder 4, and the described other end of adjustment oil cylinder 4 rotates connection, adjustment with the middle part of leading truck 3 respectively The flexible connection hinge for realizing leading truck 3 around the top of A type frame 2 of oil cylinder 4 is rotated, and the cable hole that of leading truck 3 is in level all the time Position.

Described leading truck jack also includes locking device 9, hydraulic motor 16, floating bearing 18 and rotating disk 8;It is described Rotating disk 8 be arranged at the bottom of leading truck 3, locking device 9 is arranged in the terminal pad 25 on the top of rotating disk 8, floating bearing 18 with even Connect disk 25 to connect, hydraulic motor 16 is used to drive floating bearing 18 to be rotated relative to the horizontal continuity of A type frame 2, drives rotation to be used to full Sufficient Difference angles requirement.

Locking device 9 is arranged at the top of rotating disk 8, and the locked cylinder 17 for controlling its folding is provided with locking device 9. Described locking device 9 includes locking cylinder 17, connecting rod 24, indicating arm 26 and locking jaw 27;Described connecting rod 24 is fixed In in terminal pad 25, described connecting rod 24 is bolted with terminal pad 25, in order to when locking cylinder 17 stretches, lock Pawl 27 can rotate around the hinge of the both sides of connecting rod 24.

The described two ends of connecting rod 24 are separately installed with a locking jaw 27, are set between the end of locking jaw 27 described in two Locking cylinder 17 is equipped with, the front end of locking jaw 27 described in two is respectively arranged with an indicating arm 26.

When locking cylinder 17 shrinks, both sides locking jaw 27 is rotated and opened around the hinge of connecting rod 24, is at the same time driven and is referred to Show that the overhanging indicating locking device 9 of bar 26 is opened, now underwater robot system enters water;Conversely, when underwater robot water outlet lifts Afterwards, locking cylinder 17 is stretched, and locking jaw 27 is rotated around with the hinge of connecting rod 24, and at the same time, indicating arm 26 inside contracts indicating locking Device is closed, and now underwater robot device falls on locking jaw 27, and locking action is completed.The folding of locking device 9 is controlled, and Drive indicating arm 26 to move horizontally instruction folding, effectively improve that extension and retraction system outboard is anti-to wave control ability.

The main structure of the bottom of the leading truck 3 is connected with the terminal pad 25 of rotating disk 8;Described rotating disk 8 includes rotating disk It is oriented to 19, spring buffer 20, upper strata rotating disk 21, lower floor's rotating disk 22, rubber buffer 23 and terminal pad 25;Described upper strata rotating disk 21 and lower floor's rotating disk 22 by rotating disk be oriented to 19 and spring buffer 20 connect, the described bottom of lower floor's rotating disk 22 is provided with rubber Buffer, described rubber bumper has multiple rubber buffers 23.

The bottom of lower floor's rotating disk 21 is provided with multiple rubber buffers 23 with the elastic pressure shape with underwater robot body contacts Formula controls underwater human body.

The described middle part of leading truck 3 is provided with cable leading block oscillating oil cylinder 6, cable leading block oscillating oil cylinder 6 Front end is installed on cable leading block 7.Cable leading block oscillating oil cylinder 6 is used for according to umbilical cables 11 in cable reel 14 Go out the angle of cable position adjustment cable leading block 7.

Described base winding mechanism includes base 1, and is arranged at rope winch 13 and cable reel on base 1 14;Described rope winch 13 and cable reel 14 is arranged on base 1 and connects side, described steel away from the hinge of A type frame 2 Cord winch 13 is installed on the top of cable reel 14;Rope winch 13 for lifting by crane underwater robot, by steel wire rope 12 are connected with leading block 5 with underwater robot, and by cable leading block 7 be connected to umbilical cables 11 by the cable reel 14 On the underwater robot of the bottom of rotating disk 8.

A kind of folding and unfolding method of above-mentioned underwater robot extension and retraction system, underwater robot packs up water outlet includes following step Suddenly:

S1, cable reel 14 pack up the umbilical cables 11 for bypassing cable leading block 7, during packing up, cable leading block Oscillating oil cylinder 6 drives cable leading block 7 to swing, the pendulum angle of active control cable leading block 7, it is ensured that umbilical cables 11 are in electricity The angle for going out cable position and cable leading block 7 of cable winch 14, makes to realize zero folder between cable leading block 7 and umbilical cables 11 Angle, so as to protect cable and pulley.

Meanwhile, the rotation of rope winch 13 is packed up steel wire rope 12 and is close under lower floor's rotating disk 22 with lifting underwater human body The rubber buffer 23 in portion;

Meanwhile, the rotating disk guide 19 between lower floor's rotating disk 22 and upper strata rotating disk 21 is shunk, and spring buffer 20 is compressed, and is risen To cushioning effect;

Meanwhile, the stretching of locking cylinder 17 driving locking device 9 is closed, and underwater robot is locked;

Meanwhile, hydraulic motor 16 drives floating bearing 18 to drive rotating disk 8 to rotate;

S2, leading truck 3 are rotated under the driving of leading truck adjustment oil cylinder 4 around the top hinge of A type frame 2, with guarantee and water The horizontality of the connected rotating disk 8 of lower robot;

S3, oscillating oil cylinder 10 drive A type frame 2 around the hinge rotation with base 1, so as to whole system be packed up;

Underwater robot puts Water Exit, the above-mentioned action of reverse operating.

Underwater robot extension and retraction system described in the utility model, compact conformation, stability suitable marine harsh conditions high Under sea situation operation, with it is current both at home and abroad product form distinguish it is larger, made larger simplification relative to external advanced form.This is System realizes A type frame and leading truck synchronous control technique, and umbilical cables folding and unfolding technology sets double buffering device, under rotating disk Surface is provided with spring buffer and rubber bumper, there is provided locking device can effectively fix protection underwater robot. Existing extension and retraction system structure is solved well single, the weak problem of feature.

The above, only the utility model preferably specific embodiment, but protection domain of the present utility model is not Be confined to this, any one skilled in the art in the technical scope that the utility model is disclosed, according to this practicality New technical scheme and its inventive concept is subject to equivalent or change, should all cover protection domain of the present utility model it It is interior.

Claims (6)

1. a kind of underwater robot extension and retraction system, including:Base winding mechanism and A type frame jacks;The base wrapping machine The base (1) of structure is arranged on working ship (15);
It is characterized in that:Described A type frame jacks include:A type frame (2), oil cylinder mechanism and leading truck jack;
Described oil cylinder mechanism includes:Oscillating oil cylinder (10) and adjustment oil cylinder (4);
The bottom of the A type frame (2) rotates connection, A type frame (2) top with the hinge of base winding mechanism upper bed-plate (1) end An oscillating oil cylinder (10) is respectively arranged with the support body of both sides, the same base respectively of oscillating oil cylinder (10) other end described in two (1) connection is rotated, A type frame (2) hinge pitching of the A type frame (2) around base (1) end can be realized by oscillating oil cylinder (10) Motion;
Described leading truck jack includes leading truck (3) and the steel wire rope leading block being installed on leading truck (3) And cable leading block (7) (5);
Described leading truck (3) top rotates connection, A type frame (2) top two ends difference with the connection hinge on A type frame (2) top Adjustment oil cylinder (4) is provided with, same to leading truck (3) middle part rotates connection, adjustment to described adjustment oil cylinder (4) other end respectively The flexible connection hinge for realizing leading truck (3) around A type frame (2) top of oil cylinder (4) is rotated, and make leading truck (3) goes out cable hole all the time It is horizontal.
2. underwater robot extension and retraction system according to claim 1, it is characterised in that:
Described leading truck jack also includes locking device (9), hydraulic motor (16), floating bearing (18) and rotating disk (8);
Described rotating disk (8) is arranged at leading truck (3) bottom, and locking device (9) is arranged at the terminal pad (25) on rotating disk (8) top On, floating bearing (18) is connected with terminal pad (25), and hydraulic motor (16) is for driving floating bearing (18) with respect to A type frame (2) Horizontal continuity rotates, and locking device (9) is arranged at rotating disk (8) top, and locking device is provided with for controlling its folding on (9) Locked cylinder (17).
3. underwater robot extension and retraction system according to claim 2, it is characterised in that:
The terminal pad (25) of the same rotating disk of the main structure (8) of leading truck (3) bottom is connected;
Described rotating disk (8) is oriented to (19), spring buffer (20), upper strata rotating disk (21), lower floor's rotating disk (22), rubber including rotating disk Glue buffers (23) and terminal pad (25);
Described upper strata rotating disk (21) and lower floor's rotating disk (22) are oriented to (19) by rotating disk and spring buffer (20) is connected, described Lower floor's rotating disk (22) bottom be provided with rubber bumper, described rubber bumper has multiple rubber buffers (23).
4. the underwater robot extension and retraction system according to claim 1,2 or 3, it is characterised in that:
Described leading truck (3) middle part is provided with cable leading block oscillating oil cylinder (6), cable leading block oscillating oil cylinder (6) Front end be installed on cable leading block (7).
5. the underwater robot extension and retraction system according to Claims 2 or 3, it is characterised in that:
Described base winding mechanism includes base (1), and the rope winch (13) and cable that are arranged on base (1) are twisted Car (14);Described rope winch (13) and cable reel (14) is arranged on base (1) away from the connection of A type frame (2) hinge Side, described rope winch (13) is installed on the top of cable reel (14);
Rope winch (13) for lifting by crane underwater robot, by steel wire rope (12) and leading block (5) same to underwater People is connected, and umbilical cables (11) are connected to rotating disk (8) bottom under water by the cable reel (14) by cable leading block (7) In robot.
6. underwater robot extension and retraction system according to claim 3, it is characterised in that:
Described locking device (9) includes locking cylinder (17), connecting rod (24), indicating arm (26) and locking jaw (27);
Described connecting rod (24) is fixed in terminal pad (25), and described connecting rod (24) two ends are separately installed with a locking Pawl (27), is provided with locking cylinder (17), before the locking jaw (27) described in two between locking jaw (27) end described in two End is respectively arranged with an indicating arm (26).
CN201621277268.0U 2016-11-25 2016-11-25 Underwater robot extension and retraction system CN206243395U (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106476994A (en) * 2016-11-25 2017-03-08 大连华锐重工集团股份有限公司 Underwater robot extension and retraction system and its using method
CN108190718A (en) * 2017-12-22 2018-06-22 国家海洋局第海洋研究所 A kind of multi-functional ship combination hydraulic A type frame
CN108298029A (en) * 2017-12-27 2018-07-20 中国船舶重工集团公司第七0研究所 A kind of UUV lays recycling protective device
CN109319054A (en) * 2018-08-30 2019-02-12 中国船舶重工集团公司第七〇五研究所 A kind of multipurpose folding and unfolding acquisition equipment
CN109334874A (en) * 2018-10-25 2019-02-15 中国船舶科学研究中心(中国船舶重工集团公司第七0二研究所) A kind of boat-carrying unmanned submersible lays recycling gantry crane system
CN109625183A (en) * 2018-12-12 2019-04-16 上海大学 A kind of unmanned water surface ship folding and unfolding autonomous underwater vehicle device
CN109866883A (en) * 2017-12-05 2019-06-11 中国科学院沈阳自动化研究所 A kind of ship towed sonar lays recyclable device
CN110758680A (en) * 2019-12-30 2020-02-07 上海彩虹鱼海洋科技股份有限公司 Underwater robot, platform for water area search and rescue and operation method thereof

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106476994A (en) * 2016-11-25 2017-03-08 大连华锐重工集团股份有限公司 Underwater robot extension and retraction system and its using method
CN106476994B (en) * 2016-11-25 2018-08-14 大连华锐重工集团股份有限公司 Underwater robot extension and retraction system and its application method
CN109866883A (en) * 2017-12-05 2019-06-11 中国科学院沈阳自动化研究所 A kind of ship towed sonar lays recyclable device
CN108190718A (en) * 2017-12-22 2018-06-22 国家海洋局第海洋研究所 A kind of multi-functional ship combination hydraulic A type frame
CN108298029A (en) * 2017-12-27 2018-07-20 中国船舶重工集团公司第七0研究所 A kind of UUV lays recycling protective device
CN108298029B (en) * 2017-12-27 2020-02-07 中国船舶重工集团公司第七一0研究所 UUV laying and recycling protection device
CN109319054A (en) * 2018-08-30 2019-02-12 中国船舶重工集团公司第七〇五研究所 A kind of multipurpose folding and unfolding acquisition equipment
CN109334874A (en) * 2018-10-25 2019-02-15 中国船舶科学研究中心(中国船舶重工集团公司第七0二研究所) A kind of boat-carrying unmanned submersible lays recycling gantry crane system
CN109625183A (en) * 2018-12-12 2019-04-16 上海大学 A kind of unmanned water surface ship folding and unfolding autonomous underwater vehicle device
CN110758680A (en) * 2019-12-30 2020-02-07 上海彩虹鱼海洋科技股份有限公司 Underwater robot, platform for water area search and rescue and operation method thereof
CN110758680B (en) * 2019-12-30 2020-04-14 上海彩虹鱼海洋科技股份有限公司 Underwater robot, platform for water area search and rescue and operation method thereof

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