CN103129723A - Securing device of one man atmospheric diving apparatus - Google Patents
Securing device of one man atmospheric diving apparatus Download PDFInfo
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- CN103129723A CN103129723A CN2013100692239A CN201310069223A CN103129723A CN 103129723 A CN103129723 A CN 103129723A CN 2013100692239 A CN2013100692239 A CN 2013100692239A CN 201310069223 A CN201310069223 A CN 201310069223A CN 103129723 A CN103129723 A CN 103129723A
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- oil cylinder
- pin joint
- sliding support
- harness
- fixing apparatus
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- 230000009189 diving Effects 0.000 title claims abstract description 40
- 239000007787 solid Substances 0.000 claims description 33
- 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 28
- 239000013535 sea water Substances 0.000 claims description 5
- 230000007797 corrosion Effects 0.000 claims description 4
- 238000005260 corrosion Methods 0.000 claims description 4
- 239000010935 stainless steel Substances 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- -1 polytetrafluoroethylene Polymers 0.000 claims description 3
- 229920001343 polytetrafluoroethylene Polymers 0.000 claims description 3
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- 230000000153 supplemental effect Effects 0.000 claims description 3
- 238000010073 coating (rubber) Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 40
- 238000000034 method Methods 0.000 description 8
- 238000012423 maintenance Methods 0.000 description 7
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- 230000007935 neutral effect Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 238000011084 recovery Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000011435 rock Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 230000000977 initiatory effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
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- 230000005236 sound signal Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
The invention provides a securing device of a one man atmospheric diving apparatus. The lashing device comprises a released hook, a hoisting mechanism, a horizontal swinging mechanism and a vertical rotating mechanism, wherein the hoisting mechanism comprises a mounting frame; the mounting frame is provided with a vertical screw rod; the screw rod is in threaded connection with a nut; the screw rod is connected with a transmission device on the mounting frame; the nut is fixedly connected with a sliding bracket; the sliding bracket is in sliding match with a vertical guide rail on the mounting frame; the horizontal swinging mechanism comprises swinging oil cylinders at the two sides of the released hook; the released hook is connected with a base through a rotary shaft; the swinging oil cylinders are symmetrically arranged relative to the rotary shaft; piston rods of the swinging oil cylinders are connected with the released hook; the swinging oil cylinders are arranged on the base; the base is in pin joint with a connecting rod; the connecting rod is in pin joint with the sliding bracket; the vertical rotating mechanism comprises a securing oil cylinder; the securing oil cylinder is in pin joint with the sliding bracket; a piston rod of the securing oil cylinder is in pin joint with a rotary plate; and the two ends of the rotary plate are respectively in pin joint with the sliding bracket and the base. According to the lashing device disclosed by the invention, the one man atmospheric diving apparatus in a relay station is effectively secured; and the safety protection effect on the apparatus is realized.
Description
Technical field
The present invention relates to the underwater working device technical field, be specifically related to be applied to the underwater working device on the underwater moving bodies such as deep-sea telerobot, single normobaric diving harness, space station, deep-sea, submarine, what relate in particular to the single normobaric diving harness that is applied to be used in single one atmosphere diving system (OADS) fixedly to enter repeater station is fixing apparatus.
Background technology
Single one atmosphere diving system (OADS) is laid by single normobaric diving harness 100 (ADS), repeater station 200 (TMS) and the water surface mainly that recovery system 300 (LARS) three parts form, its structure as shown in Figure 1, repeater station 200 is carrying single normobaric diving harness 100 and is laying recovery system 300 by the water surface and hang onto near setting by armoured cable 400, and the neutral cable releasing winch in repeater station 200 lay and reclaim by 500 pairs of single normobaric diving harness 100 of neutral cable again.In single one atmosphere diving system (OADS), single normobaric diving harness is the underwater work system of a humanoid, can enter into some specific regions, and can complete the under-water operation that some had before only had the complexity that the diver just can complete; Repeater station (TMS) is the key device of the single normobaric diving harness transaction capabilities of performance, arranging of it isolated the water surface and laid the heave of recovery system (LARS) (surface mother ship) and sway impact on single normobaric diving harness (ADS), improved the anti-current ability of single normobaric diving harness (ADS), and reduced the weight of the electric components in the harness as far as possible, dwindle the displacement of volume of harness, thereby effectively improved the underwater manoevreability of harness; The water surface lays the repeater station that recovery system will carry single normobaric diving harness (ADS) by armoured cable and hangs onto near setting; After repeater station arrives setting, by the neutral cable draw off gear on repeater station, single normobaric diving harness is laid and reclaims again, wherein, neutral cable is the neutral buoyancy connecting cable between repeater station and single normobaric diving harness, it is powered to single normobaric diving harness, and the sound signal of transmission video signal, sonar signal, control signal and diver and water surface communication.
After single normobaric diving harness (hereinafter to be referred as " harness ") enters repeater station, generally be connected with repeater station by geared assembly, thus, harness is supported in repeater station by the point of engagement at top.traditional this harness belongs to a bit with the connection mode of repeater station and is connected, from the mechanics angle, this single-point support belongs to unstable support, there is following defective in single-point support: harness lay with the process that reclaims in, fugitiveness due to impact and the support of ocean current, harness will produce rotation and rock, the diver who is in harness will produce the bad physiological reactions such as dizzy, if external disturbance is excessive, harness also might produce with the lower part of repeater station collision and friction, cause harness to damage, even also may cause the engagement inefficacy, in case and geared assembly lost efficacy, to lose the actv. constraint between harness and repeater station, harness may be fallen into seawater from engage switch, thereby initiation safety misadventure.
Summary of the invention
The applicant improves for above-mentioned shortcoming of the prior art, and what a kind of single normobaric diving harness was provided is fixing apparatus, and it can realize the effective system that enters the single normobaric diving harness in repeater station solid, and the safety guard-safeguard effect is played in harness.
Technical scheme of the present invention is as follows:
Single normobaric diving harness be fixing apparatus, comprise unhook, lifting mechanism, horizontal hunting mechanism and vertical rotating mechanism, wherein:
Being constructed as follows of described lifting mechanism: comprise erecting frame, vertical screw mandrel is housed on erecting frame, and screw mandrel has been threaded connection nut, and the termination of screw mandrel is connected with driving device on erecting frame, nut and sliding support are affixed, the vertical guide bearing fit on sliding support and erecting frame;
Described horizontal hunting mechanism is constructed as follows: the oscillating oil cylinder that comprises the unhook both sides, break off relations and be connected by turning cylinder with pedestal, oscillating oil cylinder is arranged symmetrically with about turning cylinder, the piston rod of oscillating oil cylinder is connected with unhook, oscillating oil cylinder is contained on pedestal, pedestal and connecting rod pin joint, connecting rod and sliding support pin joint;
Described vertical rotating mechanism is constructed as follows: comprising being solid oil cylinder, is solid oil cylinder and sliding support top pin joint, is the groove that the piston rod of solid oil cylinder passes the sliding support below, and with the flap pin joint, flap two ends respectively with sliding support, pedestal pin joint.
Its further technical scheme is:
Described sliding support is provided with upper supporting plate, middle support plate, lower carrier plate, and nut and sliding support are affixed by upper supporting plate; The middle support plate pin joint of connecting rod and sliding support; The solid oil cylinder of system is by upper supporting plate and sliding support pin joint, is the groove that the piston rod of solid oil cylinder passes the lower carrier plate of sliding support; The flap two ends respectively with lower carrier plate, pedestal pin joint.
Described driving device adopts Worm and worm-wheel gearing, and Worm and worm-wheel gearing is driven by handwheel.
Described pedestal is " ⊥ " type structure.
The solid oil cylinder of described system adopts the spring reset hydraulic ram.
Described flap is triangular structure, its three bights respectively with pedestal, lower carrier plate, be the piston rod pin joint of solid oil cylinder.
The both sides of unhook termination are with groove, and the piston rod of oscillating oil cylinder joins in the groove of unhook by the protuberance of termination.
Be provided with reinforced rib between the substrate of described upper supporting plate, middle support plate and lower carrier plate and sliding support, be used for described three support plates of supplemental support.
Corrosion-resistant steel or high-strength aluminum alloy material are adopted in described unhook, and its outside face applies the elastic coating with resistance to corrosion seawater.
The outside face of described unhook applies polytetrafluoroethylene or government rubber coating.
Technique effect of the present invention:
The present invention has considered the various operating modes that might run in the actual job process, by the design to the active control structure of three the direction degree of freedom that break off relations, make the present invention can adapt in all directions work requirements and the different operating mode of harness, by on three directions to the adjustment of unhook position, thereby realize effective system of harness solid; The worm and gear lifting mechanism has auto-lock function, even this makes the present invention work under abominable sea situation, also need not to provide extra constraint, simplifies the structure; The solid oil cylinder of system adopts the spring reset hydraulic ram, and retracing spring wherein can guarantee the auto-lock function of whole device, even in hydraulic system fails or when being solid oil cylinder generation leakage of oil, also can guarantee to break off relations and hold firmly all the time harness tightly; Symmetrically arranged one stretches the design of the oscillating oil cylinder that a contracting is synchronized with the movement, and can guarantee in the situation that harness has constant slope, also can be by the adjustment to the unhook self-position, make break off relations with harness be that maintenance is put and is in vertical direction same longitudinal plane of symmetry; The present invention provides effective support at another place outside engage switch for entering harness in repeater station; changed that traditional harness and repeater station a bit are connected and the situation of single-point support; can make harness enter obtaining after repeater station is solid effectively; repeater station lay with removal process in; avoid the rotation of harness and rock; avoid the dangerous generation such as harness and repeater station collision, thereby the safety guard-safeguard effect is played in harness and the diver that is in harness.
Description of drawings
Fig. 1 is the structural representation of single one atmosphere diving system (OADS), and in figure, single normobaric diving harness also shows the assembly relation of the present invention and repeater station just in operation in figure.
Fig. 2 is structural representation of the present invention, and the unhook in figure has been adjusted to level and treated job position.
Fig. 3 is the structural representation under off working state of the present invention, and the unhook in figure is not in level and treats job position.
Fig. 4 is the birds-eye view of Fig. 2, there is shown the hunting range of unhook level.
Fig. 5 is the course of action schematic diagram that lifting of the present invention is broken off relations.
Wherein: 1, break off relations; 101, groove; 2, erecting frame; 3, screw mandrel; 4, nut; 5, sliding support; 501, upper supporting plate; 502, middle support plate; 503, lower carrier plate; 6, pedestal; 7, turning cylinder; 8, be solid oil cylinder; 9, flap; 10, connecting rod; 11, Worm and worm-wheel gearing; 12, handwheel; 13, reinforced rib; 14, oscillating oil cylinder; 141, protuberance; 100, single normobaric diving harness; 200, repeater station; 300, the water surface lays recovery system; 400, armoured cable; 500, neutral cable; 600, be fixing apparatus.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
See Fig. 2, Fig. 4, the present invention includes break off relations 1, lifting mechanism, horizontal hunting mechanism and vertical rotating mechanism, wherein:
being constructed as follows of described lifting mechanism: comprise erecting frame 2, vertical screw mandrel 3 is housed on erecting frame 2, screw mandrel 3 has been threaded connection nut 4, the termination of screw mandrel 3 is connected with driving device on erecting frame 2, nut 4 is affixed with sliding support 5, sliding support 5 is provided with upper supporting plate 501, middle support plate 502, lower carrier plate 503, nut 4 is affixed by upper supporting plate 501 with sliding support 5, vertical guide bearing fit on sliding support 5 and erecting frame 2, further, described driving device adopts the Worm and worm-wheel gearing 11 with auto-lock function, Worm and worm-wheel gearing 11 is driven by handwheel 12,
Described horizontal hunting mechanism is constructed as follows: the oscillating oil cylinder 14 that comprises 1 both sides of breaking off relations, unhook 1 is connected by turning cylinder 7 with pedestal 6, oscillating oil cylinder 14 is arranged symmetrically with about turning cylinder 7, the piston rod of oscillating oil cylinder 14 is connected with unhook 1, break off relations the both sides of 1 termination with groove 101, the piston rod of oscillating oil cylinder 14 joins in the groove 101 of unhook 1 by the protuberance 141 of termination, oscillating oil cylinder 14 is contained on pedestal 6, pedestal 6 and connecting rod 10 pin joints, middle support plate 502 pin joints of connecting rod 10 and sliding support 5;
Described vertical rotating mechanism is constructed as follows: comprise being solid oil cylinder 8, the solid oil cylinder 8 of system is by upper supporting plate 501 and sliding support 5 top pin joints, the piston rod of the solid oil cylinder 8 of system passes the groove of the lower carrier plate 503 of sliding support 5 belows, and with flap 9 pin joints, flap 9 two ends respectively with pedestal 6, sliding support 5 on lower carrier plate 503 pin joints.
Further, described pedestal 6 is " ⊥ " type structure, and two oscillating oil cylinders 14 are contained on the horizontal plate of pedestal 6, and connecting rod 10, flap 9 are connected with the vertical plate of pedestal 6; Described flap 9 is triangular structure, its three bights respectively with pedestal 6, lower carrier plate 503, be the piston rod pin joint of solid oil cylinder 8; Be provided with reinforced rib 13 between the substrate of described upper supporting plate 501, middle support plate 502 and lower carrier plate 503 and sliding support 5, be used for three support plates of supplemental support; The solid oil cylinder 8 of system adopts the spring reset hydraulic ram; Aspect the material selection, 1 employing corrosion-resistant steel or high-strength aluminum alloy material breaks off relations, its outside face applies polytetrafluoroethylene or government rubber or other and has the elastic coating of resistance to corrosion seawater, erecting frame 2, pedestal 6 adopt the stainless steel material of seawater corrosion resistance, connect flap 9, connecting rod 10 employing high-strength corrosion-resisting materials.
See Fig. 1, Fig. 3, having illustrated shown in the present in Fig. 1 is the installation site of fixing apparatus 600 in repeater station 200, the present invention is fixed in repeater station 200, to arrange face-to-face with single normobaric diving harness 100, Fig. 3 is the structural representation under off working state of the present invention, unhook 1 in figure is not in level and treats job position, but sagging placement, the location status of unhook 1 shown in Figure 3 is the rotine positioning state of the present invention in repeater station 200, arrange like this, be conducive to the interior single normobaric diving harness 100 of repeater station 200 and space of the present invention and arrange.
Operation scheme of the present invention is as follows:
1 height and position adjust to break off relations: when single normobaric diving harness 100 enter repeater station 200 interior after, harness has different height because diver's height is different, thereby need to adjust 1 the height of breaking off relations, so that break off relations 1 height and harness is that maintenance is put and is in identical or suitable height.Adjustment process is as follows: handwheel 12 drives 11 motions of worm and gear lifting mechanism, then driving screw mandrel 3 rotates, nut 4 on screw mandrel 3 drives affixed with it sliding support 5, break off relations 1 and to be solid oil cylinder 8 rise or descending motion along the track of erecting frame 2, thereby the position of realizing unhook 1 in the vertical direction is adjusted, and sees Fig. 5.On the other hand, because worm and gear lifting mechanism 11 has auto-lock function, so the adjustment of in the vertical direction of the present invention has auto-lock function, even this makes the present invention work, also need not to provide extra constraint under abominable sea situation, simplify the structure.
adjust to break off relations 1 to harness be that maintenance is put and is in same vertical longitudinal plane of symmetry: after the height and position of hook 1 is adjusted to the right place, due to harness and engaging mechanism engagement later position can not be fully and hook 1 be on same vertical longitudinal plane of symmetry, be that harness is not fully vertically to place, but has constant slope, and the position of adjusting harness is also inconvenient in actual motion, so the position of needs adjustment hook 1 on horizontal surface, so that break off relations 1 with harness be that maintenance is put and is on same vertical longitudinal plane of symmetry, namely making what break off relations 1 vertical profile longitudinal plane of symmetry and harness is that maintenance is put and is in vertical direction same longitudinal plane of symmetry.Adjustment process is as follows: the oil circuit of two oscillating oil cylinders 14 is connected in series, stretch being synchronized with the movement of a contracting by two oscillating oil cylinders 14 1, driving unhook 1 swings back and forth in horizontal surface around turning cylinder 7, see Fig. 4, the rotational angle of hook 1 can be observed by the camera that harness carries, also can carry out controlled reset by installing position transduser or angular transducer additional, the rotational angle range of hook 1 as shown by the arrows in Figure 4.
Break off relations 1 is to be fixedly mounted with tool: when hook 1 be rocked to harness be maintenance put be in same vertical longitudinal plane of symmetry after, the piston rod of the solid oil cylinder 8 of system is protruding under the effect of hydraulic oil, under the effect of flap 9, hook 1 upwards closes up, upwards to be raised up to what closely block harness be maintenance when putting when breaking off relations 1, closes oil circuit, at this moment, unhook 1 " crotch " position of blocking tightly harness, what namely complete harness is solid operation.Simultaneously, owing to being solid oil cylinder 8 employing spring reset hydraulic rams, harness transfer or removal process in, even it is malfunctioning or be that oil leakage phenomenons occur solid oil cylinder 8 hydraulic work system to occur, it is that the piston rod of solid oil cylinder 8 remains at the location status of holding harness tightly that retracing spring in the solid oil cylinder 8 of system can make, and so can realize auto-lock function of the present invention.
The present invention has considered the various operating modes that might run in the actual job process, by the design to the active control structure of 1 three the direction degree of freedom that break off relations, make the present invention can adapt in all directions work requirements and the different operating mode of harness, by on three directions to the adjustment of 1 position of breaking off relations, final realize effective system of harness solid.
Above description is explanation of the invention, is not that limited range of the present invention within protection scope of the present invention, can be done any type of modification referring to claim to the restriction of invention.
Claims (10)
1. single normobaric diving harness is fixing apparatus, it is characterized in that: comprise unhook (1), lifting mechanism, horizontal hunting mechanism and vertical rotating mechanism, wherein:
Being constructed as follows of described lifting mechanism: comprise erecting frame (2), vertical screw mandrel (3) is housed on erecting frame (2), screw mandrel (3) has been threaded connection nut (4), the termination of screw mandrel (3) is connected with driving device on erecting frame (2), nut (4) is affixed with sliding support (5), the vertical guide bearing fit on sliding support (5) and erecting frame (2);
Described horizontal hunting mechanism is constructed as follows: the oscillating oil cylinder (14) that comprises unhook (1) both sides, unhook (1) is connected by turning cylinder (7) with pedestal (6), oscillating oil cylinder (14) is arranged symmetrically with about turning cylinder (7), the piston rod of oscillating oil cylinder (14) is connected with unhook (1), oscillating oil cylinder (14) is contained on pedestal (6), pedestal (6) and connecting rod (10) pin joint, connecting rod (10) and sliding support (5) pin joint;
Described vertical rotating mechanism is constructed as follows: comprise being solid oil cylinder (8), pin joint above the solid oil cylinder (8) of system and sliding support (5), the piston rod of the solid oil cylinder (8) of system passes the groove of sliding support (5) below, and with flap (9) pin joint, flap (9) two ends respectively with sliding support (5), pedestal (6) pin joint.
2. be fixing apparatus by single normobaric diving harness claimed in claim 1, it is characterized in that: described sliding support (5) is provided with upper supporting plate (501), middle support plate (502), lower carrier plate (503), and nut (4) is affixed by upper supporting plate (501) with sliding support (5); Middle support plate (502) pin joint of connecting rod (10) and sliding support (5); The solid oil cylinder (8) of system is by upper supporting plate (501) and sliding support (5) pin joint, is the groove that the piston rod of solid oil cylinder (8) passes the lower carrier plate (503) of sliding support (5); Flap (9) two ends respectively with lower carrier plate (503), pedestal (6) pin joint.
By single normobaric diving harness claimed in claim 2 be fixing apparatus, it is characterized in that: described driving device adopts Worm and worm-wheel gearing (11), and Worm and worm-wheel gearing (11) is driven by handwheel (12).
By single normobaric diving harness claimed in claim 2 be fixing apparatus, it is characterized in that: described pedestal (6) is for " ⊥ " type structure.
By single normobaric diving harness claimed in claim 2 be fixing apparatus, it is characterized in that: the solid oil cylinder (8) of described system adopts the spring reset hydraulic ram.
By single normobaric diving harness claimed in claim 2 be fixing apparatus, it is characterized in that: described flap (9) is for triangular structure, its three bights respectively with pedestal (6), lower carrier plate (503), be the piston rod pin joint of solid oil cylinder (8).
7. be fixing apparatus by single normobaric diving harness claimed in claim 2, it is characterized in that: the both sides of (1) termination of breaking off relations are with groove (101), and the piston rod of oscillating oil cylinder (14) joins in the groove (101) of unhook (1) by the protuberance (141) of termination.
8. be fixing apparatus by the described single normobaric diving harness of claim 2 to 4 any one claim, it is characterized in that: be provided with reinforced rib (13) between the substrate of described upper supporting plate (501), middle support plate (502) and lower carrier plate (503) and sliding support (5), be used for described three support plates of supplemental support.
By single normobaric diving harness claimed in claim 2 be fixing apparatus, it is characterized in that: corrosion-resistant steel or high-strength aluminum alloy material are adopted in described unhook (1), its outside face applies the elastic coating with resistance to corrosion seawater.
By single normobaric diving harness claimed in claim 9 be fixing apparatus, it is characterized in that: the outside face of described unhook (1) applies polytetrafluoroethylene or government rubber coating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310069223.9A CN103129723B (en) | 2013-03-05 | 2013-03-05 | Securing device of one man atmospheric diving apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310069223.9A CN103129723B (en) | 2013-03-05 | 2013-03-05 | Securing device of one man atmospheric diving apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103129723A true CN103129723A (en) | 2013-06-05 |
| CN103129723B CN103129723B (en) | 2015-07-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310069223.9A Expired - Fee Related CN103129723B (en) | 2013-03-05 | 2013-03-05 | Securing device of one man atmospheric diving apparatus |
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| CN (1) | CN103129723B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103466060A (en) * | 2013-09-06 | 2013-12-25 | 中国船舶重工集团公司第七○二研究所 | Oscillating dragging hook capable of taking off cable automatically |
| CN103466061A (en) * | 2013-09-06 | 2013-12-25 | 中国船舶重工集团公司第七○二研究所 | Humanoid pressure-resisting body structure of normal-pressure diving apparatus |
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| CN103466061B (en) * | 2013-09-06 | 2015-08-12 | 中国船舶重工集团公司第七○二研究所 | Body structure that normobaric diving harness humanoid is withstand voltage |
| CN103466060B (en) * | 2013-09-06 | 2015-09-30 | 中国船舶重工集团公司第七○二研究所 | Automatically de-cable swingable formula towing hook |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103129723B (en) | 2015-07-08 |
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