CN102717877A - Stabilizing structure of floater salvaging device - Google Patents
Stabilizing structure of floater salvaging device Download PDFInfo
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- CN102717877A CN102717877A CN2012102089491A CN201210208949A CN102717877A CN 102717877 A CN102717877 A CN 102717877A CN 2012102089491 A CN2012102089491 A CN 2012102089491A CN 201210208949 A CN201210208949 A CN 201210208949A CN 102717877 A CN102717877 A CN 102717877A
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Abstract
Disclosed is a stabilizing structure of a floater salvaging device. A long hoist arm transversely extending outside of a ship body is arranged on one side of a salvage ship, a support plate is fixed at the extended end of the hoist arm, a clamp support is suspended on the front side and the rear side of the support plate in hinge connection via two oblique hinge rods, an oblique hydraulic oil cylinder is hinged on the left side and/or the right side of the clamp support, the upper end of the hydraulic oil cylinder is hinged to the support plate, and the salvage ship is provided with an angle sensor which controls stretching of a piston rod in the hydraulic cylinder via a control circuit. Since floaters are salvaged on one salvage ship side, the stabilizing structure of the floater salvaging device is applicable to salvage work in high sea conditions. Swaying of a grab is controlled by the oil cylinder, a swaying angle between the clamp support and the salvage ship is tracked in real time, so that swaying of the floater salvaging device can be prevented dynamically.
Description
Technical field
The present invention relates to the salvage field, relate in particular to a kind of anti-structure of shaking of floating debris fishing device.
Background technology
At present, for salvaging the floating marine thing, salvor can only closely be salvaged usually, or under the good low sea conditions of sea climatic conditions, salvages through the back work ship.But under the abominable high sea conditions of sea climatic conditions big at wind-force and wave, that possibly follow situation such as thunderstorm weather simultaneously; If wrecker or repair ship leave the lash ship operation of plunging into the commercial sea; It is quite dangerous that fishing job will become, even can't carry out fishing operation.At this moment for some objects that needs salvaging in time to go on board,, salvage the object that influences marine environment or salvage thing, will incur loss through delay best salvaging opportunity or loss and salvage thing and cause heavy losses the object that the owner has important value such as the personnel that rescue is fallen into water.
And; Under high sea situation mal-condition; When the floating debris marine salvage equipment was salvaged persons falling in water or floating important item, fitness for purpose marine salvage equipment in the salvaging process was forbidden and salvor hull generation hard collision, in order to avoid destroy important item or influence Salvee person's life security.This just requires special floating debris marine salvage equipment, and the security of system performance is good, and equipment operation is reliable.
Waving in the lifting process of floating debris after salvaging can be decomposed into two, a lateral oscillation that is perpendicular to the ship length direction, and one is the oscillation in the pitch mode that is parallel to the ship length direction.
Existing a kind of floating debris fishing device is to salvage at shipboard; Float to stern after the salvaging, wave crane loading by the gantry that is installed in stern; The swing that the door frame crossbeam of hoisting crane can be the level of state in ship by outboard around its bottom base that is fixed on stern is waved at gantry; The four paws location structure that configuration can oscillation in the pitch mode on the door frame crossbeam, the center of four positioning pawls faces the derrick line center, and the floating debris of the being salvaged pawl that is positioned when hanging certain altitude is caught; Limit its teeter, so when door frame is swung in ship from outboard, cause teeter because of the rolling of ship with regard to the floating debris that can not hang on door frame.
Because the four paws location structure limited the lateral oscillation of floating debris with respect to hull, so floating debris influences by oscillation in the pitch mode mainly, disposed the longitudinal oscillation control structure on this device, to control vertically freely swinging of floating debris.Its principle of work: (door frame upright position) held four paws location structure both sides over against four paws location structure below with two steel cables from base.Steel cable is guided a triangle balance plate into through assembly pulley.Fixing on two angles, draw steel cable from the 3rd angle of balance plate again and tie on the strander rope sheave as the control pitch, control the amplitude of fluctuation of killer through the folding and unfolding steel cable of operating strander manually.When door frame is in the upright position, tighten up steel cable, can control the amplitude of fluctuation of killer.When door frame is flapped toward outboard, slowly emit steel cable simultaneously, make the four paws location structure can be in plumbness, limit it and swing backward.If strain steel cable a little, make the four paws location structure slightly to forward swing, then longitudinal oscillation can to a certain degree be brought under control.Operation was just in time opposite when door frame was swung in ship, thereby control four paws location structure is swung forward.
Should anti-shake structure and have following defective:
1, owing to adopts manual work to control waving of four paws location structure through control winch folding and unfolding steel cable; Therefore this anti-swing mechanism can only carry out waving under the not too fierce condition; Under high sea situation situation, operate, bring potential safety hazard can for floating debris fixing in operating personal and the four paws location structure;
2, door frame in ship, outboard when swing; Prevent the swing of four paws location structure through the folding and unfolding steel cable; Belong to static anti-shaking; Can't real-time tracing four paws location structure with respect to the pivot angle situation of change of hull, if hull wave the comparison fierceness, wobble frequency is bigger, the anti-effect of shaking of this structure is unsatisfactory;
3, adopt the mode that shipboard is salvaged, stern lifts by crane; Utilize the connection structure of four paws location structure and door frame to limit the lateral oscillation of floating debris; But in practical operation; Salvor lateral oscillation under the severe sea condition condition is that comparison is fierce, so the stressed meeting of this connection structure is more abominable, has certain potential safety hazard.
Summary of the invention
It is a kind of under high sea situation environment that technical matters to be solved by this invention is to provide, and pivot angle relatively between floating debris of can real-time tracing being salvaged and salvor is realized dynamically anti-shaking, and the anti-structure of shaking of the floating debris fishing device that need not to control manually.
The present invention realizes through following technical scheme:
A kind of anti-structure of shaking of floating debris fishing device is characterized in that:
Hull one side at salvor crosses out microscler rising arm towards the hull outside, and a support plate is fixed in rising arm external part end,
The forward and backward both sides of support plate are through two catching supports of the hinged suspension of inclination articulated bracket that become to fall " eight " font symmetry arrangement, being centered close on the same perpendicular line of support plate and catching support,
On same horizontal plane, the extended line of articulated bracket line of centers passes the support plate center, and vertical with the rising arm line of centers,
At the left side and/or the right side hinge arrangement bevelled hydraulic ram of catching support, the upper end of hydraulic ram is hinged on the support plate, if the quantity of hydraulic ram is two, then two hydraulic rams are about the line of centers symmetry arrangement of support plate,
Hydraulic ram line of centers and rising arm line of centers are positioned at same vertical surface,
Salvor setting angle sensor, piston rod is flexible in the angular transducer modulated pressure oil cylinder.
The principle of this anti roll device is: the swing of the triangle location structure restriction catching support that the inclination articulated bracket through two symmetric arrangement forms; Promptly be parallel to the longitudinal oscillation of ship length direction; Thereby guarantee that the catching support can only be perpendicular to the hull teeter; When catching support during with salvor teeter overbalance; The piston rod of modulated pressure oil cylinder elongates or shortens and compensates, and trends towards parallelly with hull to keep the catching support, prevents because catching support amplitude of fluctuation is excessive and bump with salvor.
The catching frame bottom is fixed with and is used for promptly floating debris, the catching of configuration in pairs; Derrick line is passed down through the center of support plate, catching support and catching from the end of rising arm; Caught by catching when derrick line hangs certain altitude with floating debris, limit its longitudinal oscillation.When salvaging the thing teeter, mainly measure the rolling rule and the wave situation of the salvor that obtains through angular transducer, the lateral oscillation angle of control catching support, thus the rolling of thing is salvaged in control.So when rising arm when outboard turns round in ship or lift by crane, cause horizontal fierce swing with regard to not producing the salvaging thing hung on the interception lifting arm because of the rolling of ship, even take place and tackle the lifting arm case of collision.
Catching can be adopted the structure of four mandible friction-type hydraulic grabs, and mandible is shaped as 1/4 circular arc, and its upper end is through being hinged on the catching support; The lower end is for promptly holding; Four mandibles in twos relatively, surround a semisphere that Open Side Down and firmly grasp the chamber, promptly the center and the catching carriage center in chamber are positioned on the same perpendicular line, on the inner arc surface of mandible fixedly rubber prop up piece; Damage floating debris when avoiding promptly floating debris, also increased mutual friction force simultaneously.Each mandible through the folding of mandible hydraulic actuating cylinder extension and contraction control mandible, is salvaged thing to grasp or to discharge through an independently mandible hydraulic ram driving; The upper end of mandible hydraulic ram is hinged on the catching support; The lower end is hinged on the mandible, and four mandible hydraulic rams are relative in twos, is " eight " font and arranges; Limited the swing of mandible with respect to the catching support, therefore four mandible hydraulic grabs are fixed with respect to the catching support.
Further, the catching support is vertical hollow circle tube, and its upper/lower terminal is protruding laterally respectively four boss of " ten " shape, the hinged mandible hydraulic ram of four boss of upper end, the hinged mandible of four boss of lower end upper end.
Further again, hydraulic ram quantity can be one or left and right symmetry arrangement two, and when quantity was one, this hydraulic ram preferred fit was between articulated bracket and salvor, and the structure of device is more compact.
Further again, the inclination mode of hydraulic ram is preferably the upper end and is positioned at the outside of lower end, with guarantee hydraulic cylinder piston rod good receive force environment; When hydraulic ram quantity was two, two hydraulic rams were down " eight " font about the line of centers of support plate and arrange.
Further again, angular transducer is the weight appearance, comprises universal hinge, connecting rod, weight and fuel tank, and small end is hinged on the salvor through universal hinge, and a weight is fixed in the lower end, and weight is submerged under the pasta of fuel tank.To prevent the vibration of weight, play shock damping action in adjustment process.Dispose change-over valve on the driving oil circuit of hydraulic ram, change-over valve has the driving oil circuit of two contact switches, corresponding modulated pressure oil cylinder piston both sides, and contact switch is positioned at the both sides of connecting rod lower end, and near connecting rod.
When catching support and salvor deck all kept level, hydraulic ram was not worked; When salvor is swung because of influenced by high sea situation wave, the run-off the straight of catching support, this moment, weight also can corresponding run-off the straight.In case the run-off the straight of weight appearance, link contacts the contact switch of one of which side, just drives change-over valve work, makes high pressure oil get into the hydraulic ram respective chamber, and piston rod is stretched out or withdrawn, and makes grab bucket trend and salvor deck keep balance; In case salvor is got back to level attitude, the also corresponding level attitude of getting back to of weight appearance breaks away from from contact switch; Drive change-over valve and get back to meta, oil-feed finishes, and accomplishes whole leveling process; The swing of grab bucket swing and salvor is consistent, prevents that floating debris and salvor from bumping.
Beneficial effect of the present invention is:
(1) adopt that shipboard is salvaged, the mode of shipboard lifting, salvor is under high sea conditions, and lateral oscillation is relatively fiercer, stressed when more abominable, and the laterally anti-effect of shaking is superior to the existing anti-structure of shaking greatly;
(2) adopt servo-cylinder that the swing of grab bucket is controlled, the pivot angle between real-time tracing catching support and salvor is realized dynamically anti-shaking;
(3) control system adopts the machine controlling schemes at night of weight-change-over valve, and simple in structure, reliable operation is adapted to than bad working environments;
(4) designed the new type hydraulic grab bucket, the switching of four jaw teeth of four hydraulic actuating cylinder control is promptly salvaged thing when closed, and existing positioning action has been accomplished the clamping function again, and is more reliable in the lifting process.
Description of drawings
Fig. 1,2 is existing anti-the facing and schematic side view of structure of shaking
Fig. 3,4 shakes facing of structure for the present invention is anti-and scheme drawing is looked on the right side
Fig. 5～8 for the front elevation of catching support and A-A, B-B, C-C to cutaway view
Among Fig. 1-8: 1 is support plate, and 2 are the catching support, and 3 is rising arm, and 4 is hydraulic ram, and 5 is articulated bracket; 6 is change-over valve, and 7 is mandible, and 8 is angular transducer, and 801 is universal hinge, and 802 is connecting rod; 803 is weight, and 804 is fuel tank, and 9 is salvor, and 10 is derrick line, and 11 for waving hoisting crane in gantry; 110 is door frame, and 12 is the four paws location structure, and 13 is steel cable, and 14 is the mandible hydraulic ram, and 15 prop up piece for rubber.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described further.
In Fig. 1～2; Existing a kind of floating debris fishing device is installed in the salvor stern, utilizes gantry to wave hoisting crane 11 lifting, and the swing that the door frame 110 of hoisting crane 11 can be the level of state in ship by outboard around its bottom base that is fixed on stern is waved at gantry; The four paws location structure 12 that configuration can oscillation in the pitch mode on the door frame 110; The center of four positioning pawls faces the derrick line center, and the pawl that is positioned when being hung certain altitude by the floating debris salvaged by derrick line is caught, and limits its teeter.Positioning pawl does not have gripping power, only plays the role of positioning, and whole gravity have only lifting rope to bear in the lifting process.
Because four paws location structure 12 limited the lateral oscillation of floating debris with respect to hull, so floating debris influences by oscillation in the pitch mode mainly, disposed the longitudinal oscillation control structure on this device, to control vertically freely swinging of floating debris.Its principle of work: (door frame 110 upright position) are held four paws location structure 12 both sides over against four paws location structure 12 belows with two steel cables 13 from base.Steel cable 13 is guided a triangle balance plate into through assembly pulley.Fixing on two angles, draw steel cable 13 to strander rope sheave from the 3rd angle of balance plate again as the control pitch, control the amplitude of fluctuation of killer through the folding and unfolding steel cable 13 of operating strander manually.When door frame 110 is in the upright position, tighten up steel cable 13, can control the amplitude of fluctuation of killer.When door frame 110 is flapped toward outboard, slowly emit steel cable 13 simultaneously, make four paws location structure 12 can be in plumbness, limit it and swing backward.If strain steel cable 13 a little, make four paws location structure 12 slightly to forward swing, then longitudinal oscillation can to a certain degree be brought under control.Operation was just in time opposite when door frame 110 was swung in ship, thus control four paws location structure 12 swing forward.Owing to adopt artificial folding and unfolding steel cable above deck to control waving of four paws location structure, so this anti-swing mechanism can only be worked waving under the not too fierce condition.
Among the present invention; Hull one side at salvor 9 crosses out microscler rising arm 3 towards the hull outside, and a support plate 1 is fixed in rising arm 3 external part ends; Support plate 1 forward and backward both sides become catching support 2 of inclination articulated bracket 5 hinged suspensions of " eight " font symmetry arrangement through two; Being centered close on the same perpendicular line of support plate 1 and catching support 2, on same horizontal plane, the extended line of articulated bracket 5 line of centerss passes support plate 1 center; And it is vertical, as shown in Figure 4 with rising arm 3 line of centerss.
Articulated bracket 5 on catching support 2 right sides, be hinge arrangement bevelled hydraulic ram 4 between articulated bracket 5 and the salvor; The upper end of hydraulic ram 4 is hinged on the support plate 1; Hydraulic ram 4 upper ends are positioned at the outside of lower end, and hydraulic ram 4 line of centerss and rising arm 3 line of centerss are positioned at same vertical surface.
Catching is installed in catching support 2 bottoms, and catching is four mandible friction-type hydraulic grabs, and mandible is shaped as 1/4 circular arc; Its upper end is hinged on the catching support, and the lower end is end promptly, four mandibles in twos relatively, surround a semisphere that Open Side Down and firmly grasp the chamber; Promptly center and the catching support 2 in chamber are centered close on the same perpendicular line, on the inner arc surface of mandible fixedly rubber prop up piece, each mandible passes through an independently mandible hydraulic ram driving; The upper end of mandible hydraulic ram is hinged on the catching support; The lower end is hinged on the mandible exterior arc surface, and four mandible hydraulic rams are relative in twos, is " eight " font and arranges.
Catching support 2 is vertical hollow circle tube; Its upper/lower terminal is protruding laterally respectively four boss of " ten " shape; The hinged mandible hydraulic ram of four boss 14, hydraulic ram 4 and the articulated bracket 5 of upper end, the hinged mandible of four boss 7 upper ends of lower end are shown in Fig. 5～8.
This anti roll device is through the swing of the triangle position limiting structure restriction catching support 2 of the inclination articulated bracket 5 of two symmetric arrangement; Promptly be parallel to the longitudinal oscillation of ship length direction; Thereby guarantee that catching support 2 can only be perpendicular to the hull teeter; When catching support 2 during with salvor teeter overbalance; The piston rod of modulated pressure oil cylinder 4 elongates or shortens and compensates, and trends towards parallelly with hull to keep catching support 2, prevents because catching support 2 amplitudes of fluctuation are excessive and bump with salvor.
Catching support 2 bottoms are fixed with and are used for promptly floating debris, the catching of configuration in pairs; Derrick line 10 is passed down through the center of support plate, catching support 2 and catching from the end of rising arm; Caught by catching when derrick line 10 hangs certain altitude with floating debris, limit its longitudinal oscillation.When salvaging the thing teeter, mainly monitor the rolling rule and the wave situation of salvor in real time through angular transducer, thus the lateral oscillation angle of control catching support 2, the rolling of thing is salvaged in control.So when rising arm 3 when outboard turns round in ship or lift by crane, cause horizontal fierce swing with regard to not producing the salvaging thing hung on interception rising arm 3 because of the rolling of ship, even take place and tackle rising arm 10 case of collision.
When catching support 2 and salvor deck all kept level, hydraulic ram 4 was not worked; When salvor is swung because of influenced by high sea situation wave, 2 run-off the straights of catching support, this moment, weight 803 also can corresponding run-off the straight.In case weight 803 run-off the straights just drive change-over valve 6 work, make high pressure oil get into hydraulic ram 4 respective chamber, piston rod is stretched out or is withdrawn, and makes catching support 2 trends and salvor deck keep balance; In case salvor is got back to level attitude, the also corresponding level attitude of getting back to of weight 803 drives change-over valve and gets back to meta, and oil-feed finishes, and accomplishes whole leveling process, and the swing of grab bucket swing and salvor is consistent, and prevents that grab bucket and salvor from bumping.
Catching can be adopted the structure of four mandible friction-type hydraulic grabs, and mandible 7 is shaped as 1/4 circular arc, and its upper end is through being hinged on the catching support 2; The lower end is for promptly holding; Four mandibles 7 in twos relatively, surround a semisphere that Open Side Down and firmly grasp the chamber, promptly the center and the catching support 2 in chamber are centered close on the same perpendicular line, on the inner arc surface of mandible 7 fixedly rubber prop up piece; Damage floating debris when avoiding promptly floating debris, also increased mutual friction force simultaneously.Each mandible 7 through the folding of mandible hydraulic actuating cylinder 14 extension and contraction control mandibles 7, is salvaged thing to grasp or to discharge through independently mandible hydraulic ram 14 drivings; The upper end of mandible hydraulic ram 14 is hinged on the catching support 2; The lower end is hinged on the mandible 7, and four mandible hydraulic rams are relative in twos, tilt in catching support 2; Limited the swing of mandible 7 with respect to catching support 2, therefore four mandible hydraulic grabs are fixed with respect to catching support 2.In addition, the switching of four mandibles 7 of four mandible hydraulic ram 14 controls is promptly salvaged thing when closed, and existing positioning action has been accomplished the clamping function again, and is more reliable in the lifting process.
Claims (6)
1. the anti-structure of shaking of a floating debris fishing device is characterized in that:
Hull one side at salvor (9) crosses out microscler rising arm (3) towards the hull outside, a fixing support plate (1) on rising arm (3) external part,
The forward and backward both sides of support plate (1) are through two inclination articulated bracket (5) catching supports of hinged suspension (2) that become to fall " eight " font symmetry arrangement, being centered close on the same perpendicular line of support plate (1) and catching support (2),
On same horizontal plane, the extended line of articulated bracket (5) line of centers passes support plate (1) center, and vertical with rising arm (3) line of centers,
Left side and/or right side hinge arrangement bevelled hydraulic ram (4) at catching support (2); The upper end of hydraulic ram (4) is hinged on the support plate (1); If the quantity of hydraulic ram (4) is two, then two hydraulic rams (4) are about the line of centers symmetry arrangement of support plate (1)
Hydraulic ram (4) line of centers and rising arm (3) line of centers are positioned at same vertical surface,
Piston rod is flexible in salvor (9) the setting angle sensor (8), angular transducer (8) modulated pressure oil cylinder (4).
2. the anti-structure of shaking of floating debris fishing device according to claim 1 is characterized in that: the quantity of said hydraulic ram (4) is one, is positioned between articulated bracket (5) and the salvor.
3. the anti-structure of shaking of floating debris fishing device according to claim 1; It is characterized in that: said angular transducer (8) is the weight appearance; Comprise universal hinge (801), connecting rod (802), weight (803) and fuel tank (804), connecting rod (802) upper end is hinged on the salvor (9) through universal hinge (801), and a weight (803) is fixed in the lower end; Weight (803) is submerged under the pasta of fuel tank (804)
Dispose change-over valve (6) on the driving oil circuit of hydraulic ram (4); Change-over valve (6) has the driving oil circuit of two contact switches, corresponding modulated pressure oil cylinder (4) piston both sides; Contact switch is positioned at the both sides of connecting rod (802) lower end, and near connecting rod (802).
4. the anti-structure of shaking of floating debris fishing device according to claim 1 is characterized in that: catching is installed in said catching support (2) bottom, and catching is four mandible friction-type hydraulic grabs,
Mandible (7) is shaped as 1/4 circular arc; Its upper end is hinged on the catching support; The lower end is end promptly, four mandibles (7) in twos relatively, surround a semisphere that Open Side Down and firmly grasp the chamber, promptly the center and the catching support (2) in chamber are centered close on the same perpendicular line; On the inner arc surface of mandible (7) fixedly rubber prop up piece (15)
Each mandible (7) is through independently mandible hydraulic ram (a 14) driving; The upper end of mandible hydraulic ram (14) is hinged on the catching support (2); The lower end is hinged on mandible (7) exterior arc surface, and four mandible hydraulic rams (14) are relative in twos, is " eight " font and arranges.
5. the anti-structure of shaking of floating debris fishing device according to claim 1; It is characterized in that: said catching support (2) is vertical hollow circle tube; Its upper/lower terminal is protruding laterally respectively four boss of " ten " shape; The hinged mandible hydraulic rams of four boss (14) of upper end, four hinged mandibles of boss (7) upper end of lower end.
6. the anti-structure of shaking of floating debris fishing device according to claim 1 is characterized in that: said hydraulic ram (4) upper end is positioned at the outside of lower end; When hydraulic ram (4) quantity was two, two hydraulic rams (4) were down " eight " font and arrange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210208949.1A CN102717877B (en) | 2012-06-21 | 2012-06-21 | Stabilizing structure of floater salvaging device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210208949.1A CN102717877B (en) | 2012-06-21 | 2012-06-21 | Stabilizing structure of floater salvaging device |
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| CN102717877A true CN102717877A (en) | 2012-10-10 |
| CN102717877B CN102717877B (en) | 2014-09-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210208949.1A Active CN102717877B (en) | 2012-06-21 | 2012-06-21 | Stabilizing structure of floater salvaging device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107651581A (en) * | 2017-09-20 | 2018-02-02 | 中国水产科学研究院渔业机械仪器研究所 | A kind of ship's crane, which rises, puts anti-roll device |
| CN113120201A (en) * | 2021-05-24 | 2021-07-16 | 哈尔滨工程大学 | Unmanned aerial vehicle recovery unit under water based on cyclic annular fork mechanism of cutting |
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| SU1390128A1 (en) * | 1986-11-10 | 1988-04-23 | Предприятие П/Я А-1277 | Arrangement for slinging a sunken ship |
| RU2013343C1 (en) * | 1991-04-18 | 1994-05-30 | Акционерное общество "Пролетарский завод" | Device for gripping sunken structures |
| CN1704311A (en) * | 2004-05-31 | 2005-12-07 | 中国水产科学研究院渔业机械仪器研究所 | Floater dragging device |
| WO2009070034A2 (en) * | 2007-11-26 | 2009-06-04 | Subsea 7 Norway Nuf | Method for picking up and towing a structure under water |
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| US4444425A (en) * | 1981-09-02 | 1984-04-24 | The United States Of America As Represented By The Secretary Of The Navy | Cylindrical object recovery device |
| SU1390128A1 (en) * | 1986-11-10 | 1988-04-23 | Предприятие П/Я А-1277 | Arrangement for slinging a sunken ship |
| RU2013343C1 (en) * | 1991-04-18 | 1994-05-30 | Акционерное общество "Пролетарский завод" | Device for gripping sunken structures |
| CN1704311A (en) * | 2004-05-31 | 2005-12-07 | 中国水产科学研究院渔业机械仪器研究所 | Floater dragging device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107651581A (en) * | 2017-09-20 | 2018-02-02 | 中国水产科学研究院渔业机械仪器研究所 | A kind of ship's crane, which rises, puts anti-roll device |
| CN113120201A (en) * | 2021-05-24 | 2021-07-16 | 哈尔滨工程大学 | Unmanned aerial vehicle recovery unit under water based on cyclic annular fork mechanism of cutting |
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| CN102717877B (en) | 2014-09-10 |
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