CN110216439A - A kind of Autonomous Underwater Vehicle cabin assembly and docking platform - Google Patents
A kind of Autonomous Underwater Vehicle cabin assembly and docking platform Download PDFInfo
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- CN110216439A CN110216439A CN201910674275.6A CN201910674275A CN110216439A CN 110216439 A CN110216439 A CN 110216439A CN 201910674275 A CN201910674275 A CN 201910674275A CN 110216439 A CN110216439 A CN 110216439A
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000013519 translation Methods 0.000 claims abstract description 18
- 230000003028 elevating effect Effects 0.000 claims abstract description 8
- 235000004443 Ricinus communis Nutrition 0.000 claims description 20
- 230000001105 regulatory effect Effects 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000007789 sealing Methods 0.000 description 6
- 238000005096 rolling process Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of Autonomous Underwater Vehicle cabin assembly and docking platform, belong to underwater robot field, including level-one platform, pose_adjuster a, pose_adjuster b, linear guide a, linear guide b, wherein pose_adjuster a and pose_adjuster b are mounted on the sliding block a of linear guide a；Cabin assembly is fixedly placed in experimental bench with docking platform, and wherein platform can carry out docking lengthening in spare interface according to the physical length of Autonomous Underwater Vehicle (AUV)；Pose_adjuster a includes being moved forward and backward mechanism, elevating mechanism, left and right translation mechanism, front and back locking fixture, left and right locking fixture and diameter to adjust tooling；Being moved forward and backward mechanism includes linear guide a, sliding block a, second level platform, and cabin assembles and uses manual fine-tuning when docking.
Description
Technical field
The invention belongs to underwater robot field, specifically a kind of Autonomous Underwater Vehicle is assembled and is docked with cabin
Platform.
Background technique
Autonomous Underwater Vehicle (AUV) is the important hand of the civil fields such as scientific research of seas, resource investigation, emergency rescue
Section also plays key effect in terms of thunder, military affairs are gone out in information detecting, detecting a mine, is considered as the multiplication of Modern Navy strength
Device；With being continuously increased for Autonomous Underwater Vehicle (AUV) submerged depth, " O " type sealing ring and correspondence are ensured when cabin is docked
Sealing surface intactly just seems most important；Autonomous Underwater Vehicle (AUV) is because executing task difference, the diameter of cabin simultaneously
It is all slightly different with weight；The assembly of Autonomous Underwater Vehicle (AUV) at present relies on the mode of artificial " hugging " bay section with docking
It is adjusted docking, relies on worker's experience and inefficiency, once bay section class product is more than certain size, assembly difficulty is big, fills
The problems such as not can guarantee with low efficiency, assembly precision will more protrude.
The prior art authorizes the cylindrical bay section docking facilities application No. is 201410017819.9, realizes Cylindrical cabin
Section rapid abutting joint, improve the degree of automation of docking operation, but shortcoming existing for the patent application is: applicable docking is wanted
Inexact cylindrical bay section is asked to dock, the not compact center of gravity of device design is higher, and structural reliability is low and involves great expense.
Summary of the invention
It is assembled the purpose of the present invention is to provide a kind of Autonomous Underwater Vehicle with cabin and docking platform, realization is different straight
The assembly of diameter and weight cabin and accurate docking.
Pose_adjuster a includes being moved forward and backward mechanism, front and back locking fixture, left and right translation mechanism, left and right locking fixture, lifting
Mechanism, diameter adjust tooling.
Being moved forward and backward mechanism includes linear guide a, sliding block a and second level platform, and linear guide a is mounted on one by bolt a
Grade platform, sliding block a are mounted on second level platform by bolt b, are moved manually before and after realizing pose_adjuster a on level-one platform
It is dynamic.
Front and back locking fixture includes bolt c, locating piece and second level platform, and locating piece is welded on second level platform, revolves simultaneously
When tight two sides bolt c withstands level-one platform, the locking positioning of pose_adjuster a is realized.
Left and right translation mechanism includes second level platform, sliding block b, linear guide b and rectangular bearing plate, and linear guide b passes through spiral shell
Bolt d is mounted on second level platform, and sliding block b is mounted on rectangular bearing plate by bolt e, realizes the left and right translation of pose_adjuster a；
Left and right locking fixture includes second level platform, sliding shoe, fixed block, bolt f, nut b and bolt g, and fixed block passes through bolt h
It is mounted on second level platform, bolt f passes through sliding shoe precession bolt g and fixed with nut b, wherein without spiral shell in sliding shoe counter sink
Line, and aperture is greater than bolt f, while screwing two sides bolt g and sliding shoe is pushed to withstand sliding block b, realizes that pose_adjuster a is flat in second level
The left and right locking of platform.
Elevating mechanism includes rectangular bearing plate, hydraulic elevator, fixing axle, shaft coupling, handwheel and " H " type castor supporting plate,
Hydraulic elevator is mounted on rectangular bearing plate by bolt i, be mounted on " H " type castor supporting plate by bolt j, wherein two sides
Hydraulic elevator realizes synchronization lifting by shaft coupling and fixed axis connection, with handwheel.
Diameter adjustment tooling includes supporting plate stull, " H " type castor supporting plate, connecting shaft, POM wheel, deep groove ball bearing, axle sleeve,
POM wheel two sides installation deep groove ball bearing, axle sleeve are fixed through connecting shaft string on " H " type castor supporting plate and with nut a, pass through spiral shell
Bolt j is mounted on hydraulic elevator, not by adjusting the length of connecting shaft and supporting plate stull, " H " type castor supporting plate and bolt k
With cooperation, it is adapted to the pose adjustment of different-diameter object.
The POM wheel of " H " type castor supporting plate support is able to achieve regulating object preceding under the cooperation of deep groove ball bearing and axle sleeve
The rotational freedom of moving direction afterwards.
When having multiple regulating objects or regulating object to dock, several pose_adjusters and posture adjustment can be placed on level-one platform
Mechanism.
Advance, translation, lifting, locking fixture and the diameter adjustment tooling of pose_adjuster a is manual fine-tuning.
Pose_adjuster a is identical with pose_adjuster b structure, may be implemented advance, translation, lifting and rolling four
The movement of freedom degree, therefore the two supports the adjustment that four freedom degrees can be completed when regulating object jointly.
Remarkable result of the invention is: the assembly of Autonomous Underwater Vehicle cabin and docking platform pass through manual fine-tuning
Locking tooling can ensure that " O " type sealing ring and corresponding sealing surface are not damaged when cabin is docked；It is different because executing task, from
The diameter and weight of main submarine navigation device (AUV) cabin are all slightly different, and diameter adjustment tooling is able to satisfy the autonomous water of sizes
The assembly and mating operation of lower aircraft (AUV) cabin, at the same it is different according to demand, meet while assembling and docking multi cabin
Task, manual fine-tuning greatly save manpower, reduce assembly difficulty, and assembly efficiency is high, and assembly precision is high, simple and stable structure, if
Meter is rationally compact, cheap.
Detailed description of the invention
Fig. 1 is Autonomous Underwater Vehicle cabin of the present invention assembly and docking platform overall schematic.
Fig. 2 is that Autonomous Underwater Vehicle cabin of the present invention assembly is shown with the single attitude-adjusting system of docking platform
It is intended to.
Fig. 3 is Autonomous Underwater Vehicle cabin of the present invention assembly and each structural scheme of mechanism of docking platform.
Fig. 4 is that Autonomous Underwater Vehicle cabin of the present invention assembly and the single attitude-adjusting system of docking platform are horizontal
To cross-sectional view.
Fig. 5 is Autonomous Underwater Vehicle cabin of the present invention assembly and the single attitude-adjusting system of docking platform
Longitudinal sectional view at POM wheel.
Wherein: 1 level-one platform, 2 pose_adjuster a, 3 pose_adjuster b, 4 linear guide a, 5 bolt a, 6 be moved forward and backward mechanisms,
7 front and back locking fixtures, 8 or so translation mechanisms, 9 or so locking fixtures, 10 elevating mechanisms, 11 diameters adjustment tooling, 12 bolt c,
13 locating pieces, 14 sliding block a, 15 second level platforms, 16 bolt b, 17 sliding block b, 18 linear guide b, 19 rectangular bearing plates, 20 bolt i,
21 bolt d, 22 bolt k, 23 supporting plate stulls, 24 " H " type castor supporting plates, 25 connecting shafts, 26 nut a, 27POM wheel, 28 deep-groove balls
Bearing, 29 axle sleeves, 30 bolt j, 31 shaft couplings, 32 fixing axles, 33 hydraulic elevators, 34 handwheels, 35 sliding shoes, 36 fixed blocks,
37 bolt f, 38 nut b, 39 bolt g, 40 bolt h, 41 bolt e.
Specific embodiment
A kind of Autonomous Underwater Vehicle cabin assembly and docking platform, including level-one platform 1, pose_adjuster a2, posture adjustment
Mechanism b3, linear guide a4, two linear guide a4 are parallel and symmetrical to be mounted on level-one platform 1, and pose_adjuster a2, posture adjustment
Mechanism b3 is mounted on the sliding block a14 of linear guide 4, and wherein level-one platform 1 is postwelding processing, and when welding guarantees flatness, adds
Working hour guarantees that the mounting hole of two linear guide a4 is parallel and consistent.
Level-one platform 1 is fixedly placed in experimental bench, and wherein level-one platform 1 can be according to the reality of Autonomous Underwater Vehicle (AUV)
Border length carries out docking lengthening in spare interface.
Pose_adjuster a2 includes being moved forward and backward mechanism 6, front and back locking fixture 7, left and right translation mechanism 8, left and right locking fixture
9, elevating mechanism 10, diameter adjust tooling 11.
Being moved forward and backward mechanism 6 includes linear guide a4, sliding block a14 and second level platform 15, and linear guide a4 passes through bolt a5
It is mounted on level-one platform 1, sliding block a14 is mounted on second level platform 15 by bolt b16, realizes pose_adjuster a2 in level-one platform
Back-and-forth motion on 1.
Front and back locking fixture 7 includes bolt c12, locating piece 13 and second level platform 15, and locating piece 13 is welded on second level platform
On 15, while when screwing two sides bolt c12 and withstanding level-one platform 1, the locking positioning of pose_adjuster a2 is realized.
Left and right translation mechanism 8 includes second level platform 15, sliding block b17, linear guide b18 and rectangular bearing plate 19, and straight line is led
Rail b18 is mounted on second level platform 15 by bolt d21, and sliding block b17 is mounted on rectangular bearing plate 19 by bolt e41, realizes
The left and right translation of pose_adjuster a2, wherein sliding block b17 is limited between the sliding shoe 35 of two sides.
Left and right locking fixture 9 includes second level platform 15, sliding shoe 35, fixed block 36, bolt f37, nut b38 and bolt
G39, fixed block 36 are mounted on second level platform 15 by bolt h40, and bolt f37 passes through 35 precession bolt g39 of sliding shoe and uses spiral shell
Female b38 is fixed, wherein non-threaded in 35 counter sink of sliding shoe, and aperture is greater than bolt f37, while screwing two sides bolt g39 and pushing away
Dynamic sliding shoe 35 withstands sliding block b17, realizes pose_adjuster a2 in the left and right translation of second level platform 15.
Elevating mechanism 10 includes rectangular bearing plate 19, hydraulic elevator 33, fixing axle 32, shaft coupling 31, handwheel 34 and " H "
Type castor supporting plate 24, hydraulic elevator 33 are mounted on rectangular bearing plate 19 by bolt i20, are mounted on " H " type by bolt j30
On castor supporting plate 24, the hydraulic elevators 33 of two sides is connected by shaft coupling 31 and fixing axle 32, wherein hydraulic elevator 33
The uniform cause of pole length is gone up and down, two sides hydraulic elevator 33 is maintained at the same horizontal position when elevating lever is in initial position, realizes
Original leveling realizes 24 synchronization lifting of " H " type castor supporting plate with handwheel 34.
It includes supporting plate stull 23, " H " type castor supporting plate 24, connecting shaft 25, POM wheel 27, deep-groove ball that diameter, which adjusts tooling 11,
Bearing 28, axle sleeve 29, POM takes turns 27 two sides installation deep groove ball bearing 28, axle sleeve 29 is gone here and there by connecting shaft 25 in " H " type castor supporting plate
Fix on 24 and with nut a26, be mounted on hydraulic elevator 33 by bolt j30, by adjusting connecting shaft 25 length and
Supporting plate stull 23, the cooperation different from bolt k22's of " H " type castor supporting plate 24, are adapted to the pose adjustment of different-diameter object.
The POM wheel 27 that " H " type castor supporting plate 24 supports is able to achieve adjustment under the cooperation of deep groove ball bearing 28 and axle sleeve 29
Object is moved in the rotational freedom for being moved forward and backward direction.
When thering is multiple regulating objects or regulating object to dock, can be placed on level-one platform 1 several pose_adjusters (a) and
Pose_adjuster (b).
Advance, translation, lifting, locking fixture and the diameter adjustment tooling of pose_adjuster a2 is manual fine-tuning, saves people
" O " type sealing ring and corresponding sealing surface are not damaged when can ensure cabin docking while power, reduce assembly difficulty, assembly efficiency
High and assembly precision is high.
Pose_adjuster a2 is identical with pose_adjuster b3 structure, and advance, translation, lifting and rolling four may be implemented
The movement of a freedom degree, therefore the two supports the adjustment that four freedom degrees can be completed when regulating object jointly.
Claims (5)
1. a kind of Autonomous Underwater Vehicle with cabin assemble and docking platform, including level-one platform (1), pose_adjuster a(2), adjust
Appearance mechanism b(3), linear guide a(4), linear guide a(4) be mounted on level-one platform (1), and pose_adjuster a(2), posture adjustment machine
Structure b(3) it is mounted on the sliding block a(14 of linear guide (4)) on；
Level-one platform (1) is fixedly placed in experimental bench, and wherein level-one platform (1) can be according to the reality of Autonomous Underwater Vehicle (AUV)
Border length carries out docking lengthening in spare interface；
Pose_adjuster a(2) it include being moved forward and backward mechanism (6), front and back locking fixture (7), left and right translation mechanism (8), left and right locking
Tooling (9), elevating mechanism (10), diameter adjustment tooling (11)；
Being moved forward and backward mechanism (6) includes linear guide a(4), sliding block a(14) and second level platform (15), linear guide a(4) pass through
Bolt a(5) it is mounted on level-one platform (1), sliding block a(14) be mounted on second level platform (15) by bolt b(16), realize posture adjustment
Mechanism a(2) back-and-forth motion on level-one platform (1)；
Front and back locking fixture (7) includes bolt c(12), locating piece (13) and second level platform (15), locating piece (13) be welded on two
In grade platform (15), while screwing two sides bolt c(12) when withstanding level-one platform (1), realize pose_adjuster a(2) locking it is fixed
Position；
Left and right translation mechanism (8) includes second level platform (15), sliding block b(17), linear guide b(18) and rectangular bearing plate (19),
Linear guide b(18) pass through bolt d(21) be mounted on second level platform (15), sliding block b(17) by bolt e(41) be mounted on it is rectangular
On bearing plate (19), realize pose_adjuster a(2) left and right translation；
Left and right locking fixture (9) includes second level platform (15), sliding shoe (35), fixed block (36), bolt f(37), nut b(38)
With bolt g(39), fixed block (36) passes through bolt h(40) it is mounted on second level platform (15), bolt f(37) pass through sliding shoe (35)
Precession bolt g(39) and it is fixed with nut b(38), it is wherein non-threaded in sliding shoe (35) counter sink, and aperture is greater than bolt f
(37), while two sides bolt g(39 is screwed) push sliding shoe (35) to withstand sliding block b(17), realize pose_adjuster a(2) in second level
The left and right locking of platform (15)；
Elevating mechanism (10) includes rectangular bearing plate (19), hydraulic elevator (33), fixing axle (32), shaft coupling (31), handwheel
(34) and " H " type castor supporting plate (24), hydraulic elevator (33) pass through bolt i(20) rectangular bearing plate (19) are mounted on, pass through
Bolt j(30) it is mounted on " H " type castor supporting plate (24), wherein the hydraulic elevator (33) of two sides passes through shaft coupling (31) and solid
Dead axle (32) connection realizes synchronization lifting with handwheel (34)；
Diameter adjustment tooling (11) include supporting plate stull (23), " H " type castor supporting plate (24), connecting shaft (25), POM wheel (27),
Deep groove ball bearing (28), axle sleeve (29), POM wheel (27) two sides installation deep groove ball bearing (28), axle sleeve (29) pass through connecting shaft
(25) string is on " H " type castor supporting plate (24) and fixed with nut a(26), is mounted on hydraulic elevator by bolt j(30)
(33) on, by adjusting the length of connecting shaft (25) and supporting plate stull (23), " H " type castor supporting plate (24) and bolt k(22)
Difference cooperation, is adapted to the pose adjustment of different-diameter object.
2. a kind of Autonomous Underwater Vehicle according to claim 1 is assembled with cabin and docking platform, it is characterised in that:
The POM wheel (27) of " H " type castor supporting plate (24) support is able to achieve adjustment under the cooperation of deep groove ball bearing (28) and axle sleeve (29)
Object is in the rotational freedom for being moved forward and backward direction.
3. a kind of Autonomous Underwater Vehicle according to claim 1 is assembled with cabin and docking platform, it is characterised in that: have
When multiple regulating objects or regulating object dock, level-one platform can place several pose_adjusters (a) and pose_adjuster on (1)
(b).
4. a kind of Autonomous Underwater Vehicle according to claim 1 is assembled with cabin and docking platform, it is characterised in that: adjust
Appearance mechanism a(2) advance, translation, lifting, locking fixture and diameter adjustment tooling be manual fine-tuning.
5. a kind of Autonomous Underwater Vehicle according to claim 1 is assembled with cabin and docking platform, it is characterised in that: adjust
Appearance mechanism a(2) it is identical with pose_adjuster b(3) structure, it may be implemented to advance, translation, go up and down and rotate four freedom
The movement of degree, therefore the two supports the adjustment that four freedom degrees can be completed when regulating object jointly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910674275.6A CN110216439A (en) | 2019-07-25 | 2019-07-25 | A kind of Autonomous Underwater Vehicle cabin assembly and docking platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910674275.6A CN110216439A (en) | 2019-07-25 | 2019-07-25 | A kind of Autonomous Underwater Vehicle cabin assembly and docking platform |
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| CN201910674275.6A Pending CN110216439A (en) | 2019-07-25 | 2019-07-25 | A kind of Autonomous Underwater Vehicle cabin assembly and docking platform |
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Cited By (7)
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| CN110979590A (en) * | 2019-12-24 | 2020-04-10 | 天津大学 | Semi-automatic cabin device of dismouting of glider under water |
| CN111571171A (en) * | 2020-06-04 | 2020-08-25 | 哈尔滨理工大学 | Automatic flexible assembling device and method for barrel type cabin sections |
| CN112045407A (en) * | 2020-07-10 | 2020-12-08 | 黑龙江省建筑安装集团有限公司 | Pipe section alignment device for electromechanical installation engineering construction |
| CN112975397A (en) * | 2021-04-23 | 2021-06-18 | 中国铁建重工集团股份有限公司 | Assembly tool for cotton picking and packaging machine packaging system and use method thereof |
| CN113059514A (en) * | 2021-04-06 | 2021-07-02 | 北京工业大学 | Four-degree-of-freedom flexible clamp device |
| CN115056885A (en) * | 2022-06-20 | 2022-09-16 | 东方空间技术(山东)有限公司 | Butt joint driving and mass center measuring device with same |
| CN117508513A (en) * | 2024-01-03 | 2024-02-06 | 天津瀚海蓝帆海洋科技有限公司 | Autonomous underwater vehicle dismounting platform and application method thereof |
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| CN108000135A (en) * | 2017-12-05 | 2018-05-08 | 上海交通大学 | There is the large-scale Cylinder shape constructional element automatic butt posture adjustment positioner of the coordinated movement of various economic factors |
| CN108098710A (en) * | 2017-12-12 | 2018-06-01 | 北京航天计量测试技术研究所 | A kind of trackless transports docking platform automatically |
| CN208584265U (en) * | 2017-12-24 | 2019-03-08 | 大连船舶重工集团有限公司 | A kind of marine shafting flange construction contraposition tooling |
| CN109489901A (en) * | 2018-11-22 | 2019-03-19 | 北京航天计量测试技术研究所 | A kind of online quality center of mass measuring table in assembly docking scene |
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| CN107932361A (en) * | 2017-11-21 | 2018-04-20 | 上海航天精密机械研究所 | A kind of flexible six-degree-of-freedom posture adjustment platform for the assembling of bay section class product automatic butt |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979590A (en) * | 2019-12-24 | 2020-04-10 | 天津大学 | Semi-automatic cabin device of dismouting of glider under water |
| CN111571171A (en) * | 2020-06-04 | 2020-08-25 | 哈尔滨理工大学 | Automatic flexible assembling device and method for barrel type cabin sections |
| CN112045407A (en) * | 2020-07-10 | 2020-12-08 | 黑龙江省建筑安装集团有限公司 | Pipe section alignment device for electromechanical installation engineering construction |
| CN113059514A (en) * | 2021-04-06 | 2021-07-02 | 北京工业大学 | Four-degree-of-freedom flexible clamp device |
| CN113059514B (en) * | 2021-04-06 | 2022-09-09 | 北京工业大学 | Four-degree-of-freedom flexible clamp device |
| CN112975397A (en) * | 2021-04-23 | 2021-06-18 | 中国铁建重工集团股份有限公司 | Assembly tool for cotton picking and packaging machine packaging system and use method thereof |
| CN115056885A (en) * | 2022-06-20 | 2022-09-16 | 东方空间技术(山东)有限公司 | Butt joint driving and mass center measuring device with same |
| CN115056885B (en) * | 2022-06-20 | 2024-04-30 | 东方空间技术(山东)有限公司 | Butt-joint driving and centroid measuring device with same |
| CN117508513A (en) * | 2024-01-03 | 2024-02-06 | 天津瀚海蓝帆海洋科技有限公司 | Autonomous underwater vehicle dismounting platform and application method thereof |
| CN117508513B (en) * | 2024-01-03 | 2024-04-12 | 天津瀚海蓝帆海洋科技有限公司 | Autonomous underwater vehicle dismounting platform and application method thereof |
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Application publication date: 20190910 |
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