CN106744069A - A kind of manipulation extension and retraction system of cable draw off gear and Shui Zhong robots - Google Patents
A kind of manipulation extension and retraction system of cable draw off gear and Shui Zhong robots Download PDFInfo
- Publication number
- CN106744069A CN106744069A CN201611030459.1A CN201611030459A CN106744069A CN 106744069 A CN106744069 A CN 106744069A CN 201611030459 A CN201611030459 A CN 201611030459A CN 106744069 A CN106744069 A CN 106744069A
- Authority
- CN
- China
- Prior art keywords
- cable
- gear
- wheel hub
- fixed
- coiling wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material
- B65H75/4405—Traversing devices; means for orderly arranging the material on the drum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/34—Handled filamentary material electric cords or electric power cables
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of cable draw off gear and Shui Zhong robots manipulation extension and retraction system, it is characterized in that, it includes coiling wheel hub, the electric machine being arranged on inside coiling wheel hub, the runner assembly that rotation is driven by electric machine, the control device of connection controlled motor device, transmission mechanism is connected between electric machine and runner assembly, runner assembly is provided with and holds the string holes that cable passes through, and the conductive arms extended to the side of coiling wheel hub are provided with outside string holes.If the cable draw off gear is placed aboard ship or on water surface floating platform, the cable is the internal cable with wire, is connected with the robot electric control of cable Distal coupling end by the wire and constitute Shui Zhong robots manipulation extension and retraction system.Simple structure of the present invention, easy to use, compared to the product of same type, performance is more superior.
Description
Technical field
The present invention relates to cable retractable equipment technical field, the invention further relates to the robot behaviour using cable retractable equipment
Control extension and retraction system.
Background technology
At present, many fields are required for using the draw off gear of cable, are such as used to fabricate the manufactory of cable apparatus
It is used to suspend in midair the suspender of article in family, such as construction, has in the middle of them using manually operated, also has by motor belt motor
Dynamic.Wherein, manually operated cable draw off gear, such as Chinese Patent Application No. are 201620312551.6, entitled
A kind of construction site plummet draw off gear, including two pieces of installing plates and base, two pieces of installing plates be arranged in parallel, along the peace
Dress plate length direction is equipped with slide rail, and base is located at two pieces of tops of installing plate, and the bottom surface of base is provided with and is connected with slide rail
Sliding block；Connected by connecting plate between two pieces of installing plates, through a piece connecting shaft for perpendicular setting of installation on connecting plate
And connecting shaft connects base, connecting shaft can be twitched in connecting plate and drive base to be moved along slide rail, in the connecting plate
It is provided with the locking device that base can be adjusted to predeterminated position.When in use, connecting shaft can take out the patent structure in connecting plate
Move and drive base to be moved along slide rail, so changing by the position of the winding roller on connecting shaft adjustable frames and wall
Become the relative position of measurement line and line pendant and wall, when line pendant is reclaimed, only need swing handle just can drive coiling
Roller is rotated, and measurement line is wound on winding roller.But have the disadvantage to need to manually provide power, the Item Weight that can be suspended in midair has very much
Limit.
It is entitled and the cable draw off gear that motor drives, such as Chinese Patent Application No. are 201610347716.8
A kind of hawser extension and retraction system, storage cable angular transducer traces into the change of the amount of spin of cable collection tube, and sends it to main control
Device；Master controller sends corresponding control instruction according to the change of the amount of spin of cable collection tube to row's cable motor driver；Row's cable electricity
Machine driver receives the control instruction of master controller transmission, and control row's cable motor is moved to row's cable that row's cable motor reducer is provided
The change of power；The change of row's cable power causes that row's cable motor reducer is supplied to the power of screw mandrel also therefore to change；Screw mandrel drives
Therefore the distance that cable support is moved left and right also changes.The patent structure makes the shifting of cable support under the driving of direct current generator
The change of the amount of spin of dynamic distance and cable collection tube meets predetermined corresponding relation, i.e., when in working order, cable collection tube rotation is turned around,
Cable support reaches the accurate control to row's cable pitch along screw pair reciprocator one pitch of walking.Although the patent is by motor
Power is provided, it has used slip ring as conventional cable draw off gear, and structure is excessively complicated, is more expensive to manufacture.We know
Road slip ring takes up room greatly, and slip ring/spare parts cost is high, and it is fragile need usually to repair, its part coefficient of losses is high, and signal passes through
Slip ring produces consume, so that system can not work.
And for the robot in water at present or by the way of manually collecting, so not only influence people's in deep-sea
Life, through it is commonly reported that therefore someone loses life, its labour intensity is big, and the activity duration is long, also very inconvenient.
The content of the invention
The purpose of the present invention is exactly a kind of simple structure provided to solve the deficiency of prior art, small volume, behaviour
Facilitate, the cable draw off gear of good stability.
Another object of the present invention is to provide a kind of simple and convenient efficiently Shui Zhong robots folding and unfolding control system.
The present invention is to realize above-mentioned purpose using following technical solution：A kind of cable draw off gear, its feature exists
In, it include coiling wheel hub, be arranged on inside coiling wheel hub drive device, by drive device drive rotation runner assembly,
The control device of connection control drive device, is connected with transmission mechanism between drive device and runner assembly, runner assembly is set
Have and hold the string holes that cable passes through, the conductive arms extended to the side of coiling wheel hub are provided with outside string holes, cable is stretched from wire hole
Go out, into conductive arms, extend to the side of coiling wheel hub, runner assembly rotate during, cable be quickly set around around
On line wheel drum.
Used as further illustrating for such scheme, the drive device is electric machine, is provided with coiling wheel hub accommodating
The cavity of electric machine, electric machine includes motor mount and motor, using gear-driven between motor and runner assembly
Mode is connected.
Further, the upper decorative cover of drum is provided with above the motor mount, transmission mechanism includes and motor connection
Travelling gear, the transmission gear ring group being embedded in the upper decorative cover of drum, the most final stage driving cog that runner assembly is fixed in transmission gear ring group
On circle, while driving driving cog circle group to rotate by motor, runner assembly is driven to rotate.
Further, the runner assembly includes the top cover disk being fixed on most final stage driving cog circle, and string holes is arranged on lid
On disk, conductive arms are bent outwardly extension from the top of top cover disk.
Further, the conductive arms include biside plate and the multigroup wire fixed pulley being arranged between biside plate, multigroup
Wire fixed pulley is arranged along the axial direction of conductive arms, makes retractable cable more smooth.
Further, conductive arms include fixed arm and lever arm, and fixed arm is fixed on lamina tecti, and the end of lever arm sets
Connecting head is equipped with, is plugged into cooperation with the end of fixed arm, activity brachiocylloosis extends to the sidepiece of coiling wheel hub.
Further, the connecting head includes the connecting plate that connecting pole and connection column end are set, and is provided with connecting plate
Screw, the end of fixed arm is provided with fastener corresponding with screw, and connecting plate is fixed on the end of fixed arm.
Further, the fixed plate for stretching out is fixed with the top cover disk, the end suspension of fixed plate has strand oscillator,
Cable penetrates strand oscillator from after conductive arms output, and cable is driven uniformly around located at coiling wheel hub by the wire-arranging component of strand oscillator
Side.
Further, be provided with lower wire arm below the coiling wheel hub, lower wire arm from the bottom of coiling wheel hub to
Outside extends, and multigroup wire fixed pulley is disposed with along its axial direction in lower wire arm.
Further, the lower wire arm include be connected with coiling wheel hub stand to portion, from stand to portion lower end laterally
The transverse part for extending and the downward guidance part for being connected to transverse part end are bent, there is camber mistake between downward guidance part and transverse part
Cross section.
Further, the control device is provided with the control signal receiver module of external remote control client, user
The folding and unfolding of cable can be controlled by Terminal Server Clients such as mobile phone, computers.
The manipulation extension and retraction system of Shui Zhong robots of the invention is to be on the basis using above-mentioned cable draw off gear, is used
Cable draw off gear is placed aboard ship or on water surface floating platform, and the cable is the internal cable with wire, is led by this
Line is connected with the robot electric control of cable Distal coupling end.
It is of the invention to be using the above-mentioned technical solution beneficial effect to be reached：
The present invention uses the electric machine that power resources are provided as in the reel being fixedly installed and in reel, by
Electric machine drives the runner assembly with conductive arms, with reference to strand oscillator, allows cable uniform, continuous in the side of reel
Winding displacement, conversely, can also be simple to operate by electric machine reverse drive unwrapping wire.
Cable draw off gear of the invention does not need traditional slip ring, and except small volume, the space of total system running will
Ask also small, be especially suitable for narrow, enclosed space.
Need not be using artificial using the manipulation extension and retraction system of the Shui Zhong robots of the invention of above-mentioned cable draw off gear
Folding and unfolding robot, it is to avoid the operation of diver's high intensity, it is simple to operate fast especially in boisterous marine operation
It is prompt.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is structural representation of the invention.
Description of reference numerals：1st, coiling wheel hub 1-1, cavity 2, electric machine 2-1, motor mount 2-2, motor
3rd, runner assembly 3-1, top cover disk 3-2, fixed plate 4, transmission mechanism 4-1, transmission gear ring group 5, conductive arms 5-1, side plate
5-2, wire fixed pulley 5-3, fixed arm 5-4, lever arm 5-5, connecting head 5-51, connecting pole 5-52, connecting plate 5-53,
Decorative cover 7 on screw 6, drum, strand oscillator 8, lower wire arm 8-1, stand to portion 8-2, transverse part 8-3, downward guidance part 8-4,
Camber changeover portion 9, wire fixed pulley.
Specific embodiment
The technical program is explained in detail below in conjunction with specific embodiment.
As Figure 1-Figure 2, the present invention is a kind of cable draw off gear, and it includes coiling wheel hub 1, is arranged on coiling wheel hub
Internal electric machine 2, the runner assembly 3 by electric machine driving rotation, the control device of connection controlled motor device, motor
Transmission mechanism 4 is connected between device and runner assembly, runner assembly is provided with and holds the string holes that cable passes through, is provided with outside string holes
To the conductive arms 5 that the side of coiling wheel hub extends, cable is stretched out from wire hole, into conductive arms, extend to coiling wheel hub
Side, during runner assembly is rotated, cable is quickly set around on coiling wheel hub.The control device is provided with external
The control signal receiver module of remote control client, user can control the receipts of cable by Terminal Server Clients such as mobile phone, computers
Put.The cavity 1-1 of accommodating electric machine is provided with coiling wheel hub 1, electric machine includes motor mount 2-1 and motor 2-2,
Connected using gear-driven mode between motor and runner assembly.The upper decorative cover 6 of drum, transmission are provided with above motor mount
Mechanism 4 includes the travelling gear with motor connection, the transmission gear ring group 4-1 being embedded in the upper decorative cover of drum, and runner assembly is fixed on biography
On most final stage driving cog circle in dynamic gear ring group, while driving driving cog circle group to rotate by motor, runner assembly is driven to rotate.
In the present embodiment, runner assembly 3 includes the top cover disk 3-1 being fixed on most final stage driving cog circle, and string holes is arranged on shrouding disc, leads
Line arm is bent outwardly extension from the top of top cover disk.
Further, the conductive arms 5 include the biside plate 5-1 and multigroup wire fixed pulley 5- being arranged between biside plate
2, multigroup wire fixed pulley is arranged along the axial direction of conductive arms, makes retractable cable more smooth.Conductive arms 5 include fixed arm 5-3
With lever arm 5-4, fixed arm is fixed on lamina tecti, and the end of lever arm is provided with connecting head 5-5, and the end with fixed arm connects
Cooperation is refuted, activity brachiocylloosis extends to the sidepiece of coiling wheel hub.Connecting head 5-5 includes that connecting pole 5-51 and connection column end are set
Connecting plate 5-52, screw 5-53 is provided with connecting plate, the end of fixed arm is provided with fastener corresponding with screw, connection
Plate is fixed on the end of fixed arm.
Further, the fixed plate 3-2 for stretching out is fixed with the top cover disk 3-1, the end suspension of fixed plate has
Strand oscillator 7, cable penetrates strand oscillator from after conductive arms output, by the wire-arranging component of strand oscillator drive cable uniformly around located at around
The side of line wheel drum, strand oscillator is also driven by motor.
Further, be provided with lower wire arm 8 below the coiling wheel hub, lower wire arm from the bottom of coiling wheel hub to
Outside extends, and multigroup wire fixed pulley 9 is disposed with along its axial direction in lower wire arm.Lower wire arm includes and reel
Being stood for drum connection bend laterally the transverse part 8-2 of extension to portion 8-1, from the lower end stood to portion and be connected to transverse part end
Downward guidance part 8-3, there is camber changeover portion 8-4 between downward guidance part and transverse part.
The technical program can be used in the folding and unfolding of the cable of deepwater robot, and now, the cable carries wire for internal
Cable, be connected with folding and unfolding thing (such as deepwater robot) electric control of cable connection end by the wire, by the cable folding and unfolding
Device is installed aboard ship or on water surface floating platform, you can the folding and unfolding control system as Shui Zhong robots, is entirely received when using
Putting device can be placed on hull bottom.
It is contemplated that the present invention may be use with the aspect such as building, lifting lifting of machining equipment, compared with prior art, not only
Simple structure, and volume greatly reduces, low cost of manufacture, and the operation of retractable cable function is smooth.
In the above-described embodiments, the electric machine, or other drive devices such as liquid being arranged on inside coiling wheel hub
Pressure motor；Gear connection, or other connection modes such as chain and sprocket wheel that its motor drives, Timing Belt and bent axle etc.
Deng；
Conductive arms can also be made up of the single part of non-pulley or component；
The fixation kit of all screw tissues can also be by other assemblies mode as welded, bonding etc..
Above-described is only the preferred embodiment of the present invention, it is noted that for one of ordinary skill in the art
For, without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to the present invention
Protection domain.
Claims (10)
1. a kind of cable draw off gear, it is characterised in that it includes coiling wheel hub, the driving being arranged on inside coiling wheel hub dress
Runner assembly, the control device of connection control drive device, drive device and the runner assembly for put, rotation being driven by drive device
Between be connected with transmission mechanism, runner assembly is provided with and holds the string holes that cable passes through, and the side to coiling wheel hub is provided with outside string holes
The conductive arms that face extends.
2. a kind of cable draw off gear according to claim 1, it is characterised in that the drive device is electric machine,
The cavity of accommodating electric machine is provided with coiling wheel hub, electric machine includes motor mount and motor, motor and rotating group
Connected using gear-driven mode between part.
3. a kind of cable draw off gear according to claim 2, it is characterised in that the top of the motor mount is set
There is the upper decorative cover of drum, transmission mechanism includes the travelling gear with motor connection, the transmission gear ring group being embedded in the upper decorative cover of drum, rotating group
On the most final stage driving cog circle that part is fixed in transmission gear ring group.
4. a kind of cable draw off gear according to claim 3, it is characterised in that the runner assembly includes being fixed on most
Top cover disk on final drive gear ring, string holes is arranged on top cover disk, and conductive arms are bent outwardly extension from the top of top cover disk.
5. a kind of cable draw off gear according to claim 1, it is characterised in that the conductive arms include biside plate and set
The multigroup wire fixed pulley between biside plate is put, multigroup wire fixed pulley is arranged along the axial direction of conductive arms.
6. a kind of cable draw off gear according to claim 1, it is characterised in that the conductive arms include fixed arm and work
Swing arm, fixed arm is fixed on lamina tecti, and the end of lever arm is provided with connecting head, is plugged into cooperation with the end of fixed arm, living
Swing arm bending extends to the sidepiece of coiling wheel hub.
7. a kind of cable draw off gear according to claim 6, it is characterised in that the connecting head includes connecting pole and company
The connecting plate of column end setting is connect, screw is provided with connecting plate, the end of fixed arm is provided with fastener corresponding with screw,
Connecting plate is fixed on the end of fixed arm.
8. a kind of cable draw off gear according to claim 4, it is characterised in that be fixed with to extension on the top cover disk
The fixed plate stretched, the end suspension of fixed plate has strand oscillator, and cable penetrates strand oscillator from after conductive arms output, by strand oscillator
Wire-arranging component drives cable uniformly around located at the side of coiling wheel hub；
The control device is provided with the control signal receiver module of external remote control client.
9. a kind of cable draw off gear according to claim 1, it is characterised in that be provided with below the coiling wheel hub
Lower wire arm, lower wire arm extends laterally from the bottom of coiling wheel hub, is disposed with along its axial direction in lower wire arm
Multigroup wire fixed pulley；Lower wire arm includes that what is be connected with coiling wheel hub stands to portion, bent laterally from the lower end stood to portion and prolonged
The transverse part stretched and the downward guidance part for being connected to transverse part end, there is camber changeover portion between downward guidance part and transverse part.
10. a kind of Shui Zhong robots of the cable draw off gear described in use the claims any one of 1-9 manipulate folding and unfolding system
System, it is characterised in that the cable draw off gear is placed aboard ship or on water surface floating platform, the cable is led for internal carrying
The cable of line, is connected by the wire with the robot electric control of cable Distal coupling end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611030459.1A CN106744069A (en) | 2016-11-16 | 2016-11-16 | A kind of manipulation extension and retraction system of cable draw off gear and Shui Zhong robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611030459.1A CN106744069A (en) | 2016-11-16 | 2016-11-16 | A kind of manipulation extension and retraction system of cable draw off gear and Shui Zhong robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106744069A true CN106744069A (en) | 2017-05-31 |
Family
ID=58971760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611030459.1A Pending CN106744069A (en) | 2016-11-16 | 2016-11-16 | A kind of manipulation extension and retraction system of cable draw off gear and Shui Zhong robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106744069A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826906A (en) * | 2017-11-20 | 2018-03-23 | 郑州中原科技工程研究院有限公司 | Drain cleaner outlet stopping means |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2017778A (en) * | 1978-04-01 | 1979-10-10 | Krupp Gmbh | Coiling arm |
| US4324195A (en) * | 1980-09-22 | 1982-04-13 | Perry Oceanographics, Inc. | Tender for submarine cable |
| US5485973A (en) * | 1993-02-05 | 1996-01-23 | Benthos, Inc. | Storage of cable |
| FR2743359A1 (en) * | 1996-01-08 | 1997-07-11 | Nereides | Winder electric cable or hose carrying current or fluid |
| CN201082843Y (en) * | 2007-10-23 | 2008-07-09 | 上海振华港口机械（集团）股份有限公司 | Hydraulic transmission type enwinding cable receiver |
| CN102963776A (en) * | 2012-11-12 | 2013-03-13 | 中国船舶重工集团公司第七○二研究所 | Underwater orthogonal swinging type neutral cable synchronous conveying mechanism |
| CN202829415U (en) * | 2012-08-28 | 2013-03-27 | 中国科学院沈阳自动化研究所 | Underwater robot driving heaving compensation system |
| CN104251381A (en) * | 2014-09-19 | 2014-12-31 | 中国船舶重工集团公司第七一九研究所 | Submarine oil pipeline leakage system and method based on unmanned underwater vehicle |
| CN204324577U (en) * | 2014-11-28 | 2015-05-13 | 宁波博信机械制造有限公司 | A kind of rotary type lead frame |
-
2016
- 2016-11-16 CN CN201611030459.1A patent/CN106744069A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2017778A (en) * | 1978-04-01 | 1979-10-10 | Krupp Gmbh | Coiling arm |
| US4324195A (en) * | 1980-09-22 | 1982-04-13 | Perry Oceanographics, Inc. | Tender for submarine cable |
| US5485973A (en) * | 1993-02-05 | 1996-01-23 | Benthos, Inc. | Storage of cable |
| FR2743359A1 (en) * | 1996-01-08 | 1997-07-11 | Nereides | Winder electric cable or hose carrying current or fluid |
| CN201082843Y (en) * | 2007-10-23 | 2008-07-09 | 上海振华港口机械（集团）股份有限公司 | Hydraulic transmission type enwinding cable receiver |
| CN202829415U (en) * | 2012-08-28 | 2013-03-27 | 中国科学院沈阳自动化研究所 | Underwater robot driving heaving compensation system |
| CN102963776A (en) * | 2012-11-12 | 2013-03-13 | 中国船舶重工集团公司第七○二研究所 | Underwater orthogonal swinging type neutral cable synchronous conveying mechanism |
| CN104251381A (en) * | 2014-09-19 | 2014-12-31 | 中国船舶重工集团公司第七一九研究所 | Submarine oil pipeline leakage system and method based on unmanned underwater vehicle |
| CN204324577U (en) * | 2014-11-28 | 2015-05-13 | 宁波博信机械制造有限公司 | A kind of rotary type lead frame |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826906A (en) * | 2017-11-20 | 2018-03-23 | 郑州中原科技工程研究院有限公司 | Drain cleaner outlet stopping means |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |
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| RJ01 | Rejection of invention patent application after publication |