CN110816788A - Single-rope recovery method for armored cable deep submergence vehicle - Google Patents
Single-rope recovery method for armored cable deep submergence vehicle Download PDFInfo
- Publication number
- CN110816788A CN110816788A CN201911030909.0A CN201911030909A CN110816788A CN 110816788 A CN110816788 A CN 110816788A CN 201911030909 A CN201911030909 A CN 201911030909A CN 110816788 A CN110816788 A CN 110816788A
- Authority
- CN
- China
- Prior art keywords
- head
- rope
- deep
- deep submergence
- throwing
- 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.)
- Granted
Links
Images
Classifications
-
- 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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/40—Use of lowering or hoisting gear
- B63B23/48—Use of lowering or hoisting gear using winches for boat handling
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Mechanical Means For Catching Fish (AREA)
Abstract
A single-rope recovery method for an armored cable deep submergence vehicle comprises the following steps: (1) installing a transmitter on the deep submersible vehicle; (2) fixing one end of a throwing rope on the deep submersible vehicle, and winding the other end of the throwing rope on a bullet head; (3) after the deep submergence vehicle is navigated back to the water surface near the mother ship, an operator on the mother ship controls the transmitter to start through the remote controller; (4) the bullet head drives the throwing rope to fly and fall on the mother ship; (5) an operator on the mother ship takes the throwing rope off the bullet head and then fixes one end of the throwing rope on the mushroom head; (6) winding by a winch and hoisting the mushroom head and the deep submergence vehicle by a throwing rope; (7) and starting the suspension arm to suspend the deep submergence vehicle connected with the mushroom head on the mother ship to finish the retraction. According to the invention, the cable is thrown onto the mother ship through the emitter, so that the operation of launching the operator is avoided, the risk of the operator is reduced, and the operation efficiency is improved.
Description
Technical Field
The invention relates to deep submersible vehicle recovery, in particular to a single-rope recovery method for an armored cable deep submersible vehicle.
Background
The deep diving apparatus has the underwater observation and operation capability. The underwater working base is mainly used for performing tasks such as underwater investigation, submarine exploration, submarine development and salvage, lifesaving and the like, and can be used as an underwater working base for divers to move.
The existing deep submergence vehicle laying and recovering systems are different, for example, a deep submergence vehicle laying and recovering system and a laying and recovering method with Chinese patent publication No. CN107351999A, the deep submergence vehicle recovering method comprises the following steps:
(a) starting the deep sea towing mechanism, and towing the deep submersible vehicle to the vicinity of the mother work ship through the deep sea towing mechanism;
(b) canceling the follow-up of the rotary synchronizing device, and converting the rotary synchronizing device into synchronous motion;
(c) starting a rotary drive, and driving a rotary seat to rotate through the rotary drive, so that the arrangement direction of clamping overhead wheels on different clamping overhead drives is consistent with the length direction of the deep submersible vehicle;
(d) the deep sea dragging mechanism is continuously enabled to work, the deep sea dragging mechanism drags the mushroom head of the deep submersible vehicle to open the locking plate, after the mushroom head enters the cavity, the elastic top-arranged device enables the locking plate to automatically reset, and the mushroom head of the deep submersible vehicle is locked through the butt locking device;
(e) stopping the deep sea towing mechanism, starting the clamping overhead driving, driving a clamping overhead connecting rod to move through the clamping overhead driving, driving a clamping overhead arm to swing through the clamping overhead connecting rod, and clamping and overhead deep submersible vehicles through clamping overhead wheels;
(f) the deep sea dragging mechanism is adjusted to be in a constant tension state;
(g) the telescopic arm retracts into the main arm under the action of telescopic driving;
(h) the swing arm is driven to turn over by the connecting rod driving device, and the deep submergence vehicle is brought to a working mother ship;
(i) the clamping overhead driving device drives the clamping overhead arm to reversely move through the clamping overhead connecting rod, so that the clamping overhead arm is opened, and the clamping and overhead of the clamping overhead wheel on the deep submersible vehicle are released;
(j) the locking plate is driven to turn through the elastic overhead device, and the mushroom head of the deep submergence vehicle is separated from the locking plate.
In the process of the method for recovering the deep submersible vehicle, the rope needs to be manually brought to the deep submersible vehicle and fixed when the deep submersible vehicle is recovered, and then the deep submersible vehicle is hung back to the mother ship through various lifting devices.
Disclosure of Invention
The invention aims to solve the technical problem of providing a single-rope recovery method of an armored cable deep submergence device, which reduces the risk of operators and improves the operation efficiency; the deep submergence vehicle is more reliable in recovery through locking the mushroom head, and the deep submergence vehicle is recovered by using the winch so as to improve the efficiency.
In order to solve the technical problems, the technical scheme of the invention is as follows: a single-rope recovery method for an armored cable deep submergence vehicle comprises the following steps:
(1) the launcher is arranged on the deep submersible vehicle and comprises a rear seat and a bullet head arranged on the rear seat, and high-pressure gas for pushing the bullet head is stored in the rear seat;
(2) fixing one end of a throwing rope on the deep submersible vehicle through a mushroom head, and winding the other end of the throwing rope on a bullet head;
(3) after the deep submergence vehicle is navigated back to the water surface near the mother ship, an operator on the mother ship controls the transmitter to start through the remote controller;
(4) high-pressure gas in a rear seat of the launcher is released and pushes the bullet head to fly out, and the bullet head drives the throwing rope to fly and fall on the mother ship or accessories of the mother ship;
(5) an operator on the mother ship takes the throwing rope off the bullet head, and then one end of the throwing rope is wound on a winch on the mother ship through a butt joint locking mechanism and a guide pulley on the suspension arm;
(6) winding by a winch and hoisting the mushroom head and the deep submergence vehicle by a throwing rope;
(7) the mushroom head rises until the mushroom head is clamped at a butt joint locking mechanism at the end part of the suspension arm;
(8) and starting the suspension arm to suspend the deep submergence vehicle connected with the mushroom head on the mother ship to finish the retraction.
As an improvement, the rear seat is provided with a gas storage cavity, the rear seat is provided with an inflation inlet, and the air compressor injects high-pressure air into the rear seat through the inflation inlet.
As an improvement, before the launcher launches, the launching angle of the launcher needs to be adjusted through the position of the deep submergence vehicle so as to ensure the alignment of the mother ship.
As the improvement, the bullet head includes head and winding part, the throwing rope is the spiral winding on the winding part, and after the bullet head flies away, the automatic pine of the throwing rope of winding on the winding part takes off.
As an improvement, an electromagnetic valve for plugging the high-pressure gas nozzle is arranged in the rear seat, and the electromagnetic valve is in wireless communication with a remote controller.
As an improvement, the butt joint locking mechanism comprises a box body and two symmetrical locking plates arranged in the box body, an opening is formed in one side of each locking plate, the openings of the two locking plates form a plug hole, when the mushroom head rises to the butt joint locking mechanism, the head of the mushroom head jacks the two locking plates, after the head of the mushroom head penetrates through the plug hole, an annular groove in the mushroom head is clamped at the plug hole, and therefore the mushroom head is locked at the butt joint locking mechanism.
As an improvement, one end of the throwing rope is connected with the mushroom head, the mushroom head is connected with the lifting lug, and the lifting lug is connected with the deep submergence vehicle.
As an improvement, if the launched bullet accidentally drops on the sea, the bullet can float on the sea and is fished up in a manual fishing mode.
Compared with the prior art, the invention has the following beneficial effects:
the throwing rope is thrown onto the mother ship through the emitter, so that the operation of launching an operator is avoided, the risk of the operator is reduced, and the operation efficiency is improved; the operator can remotely operate the emitter through the remote controller, and the operation is convenient. In retrieving deep diving ware in-process, constantly rolling up by the winch along with throwing the rope, the mushroom head of deep diving ware stretches into butt joint locking mechanism, through butt joint locking mechanism locking mushroom head, lets the mushroom head of being connected with deep diving ware be difficult to break away from the davit, lets the recovery of deep diving ware more reliable, utilizes the recovery of winch to deep diving ware to raise the efficiency.
Drawings
FIG. 1 is a schematic diagram of a single-rope recovery device of an armored cable deep submergence vehicle.
Fig. 2 is a schematic structural view of the clamping device.
Fig. 3 is a schematic structural diagram of the docking locking mechanism.
FIG. 4 is a schematic view of the deep submergence vehicle.
Fig. 5 is an enlarged view of fig. 4 at a.
FIG. 6 is a schematic view of the state of the deep submergence vehicle.
Fig. 7 is an exploded view of the transmitter.
FIG. 8 is a flow chart of a single-rope recovery method of the armored cable deep submergence vehicle.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in figure 1, the single-rope recovery equipment for the armored cable deep submergence device comprises a hoisting device arranged on a mother ship 1 and an automatic rope throwing device 7 arranged on the deep submergence device; the automatic rope throwing device 7 is used for throwing the throwing rope on the deep submersible vehicle 6 to the mother ship 1, and the hoisting device is used for hoisting the deep submersible vehicle 6 back to the mother ship 1.
As shown in fig. 1, the lifting device comprises a winch 2, a boom 3, a docking locking mechanism 5 arranged on the boom 3, and a clamping device 4 arranged at the end of the boom 3 for clamping a deep submersible vehicle 6.
As shown in fig. 3, the docking locking mechanism 5 includes a box body 51, a locking plate 56, and a resilient overhead mechanism. The box body 51 is fixed on the suspension arm 3, a cavity is arranged in the box body 51, through holes 52 are arranged at the top and the bottom of the box body 51, baffle plates are arranged at two opposite sides of the through hole at the bottom of the box body 51, a through groove is formed between the two baffle plates, two oppositely arranged locking plates 56 are pivoted above the through hole on the side wall of the box body 51 through a pivoting shaft 57, an opening 58 is arranged at one side of each locking plate 56 close to the adjacent locking plate 56, inserting holes are formed by the two openings 58, and the elastic overhead mechanism is arranged between the box body 51 and the locking plates 56. The elastic overhead mechanism comprises an overhead first connecting rod 59, an overhead second connecting rod 55, an overhead seat, an overhead rod, an overhead fixed seat, a spring 54 and an oil cylinder 53, wherein the overhead first connecting rod 59 is fixed on a pivot shaft 57, the overhead first connecting rod 59 is hinged with the overhead second connecting rod 55, the overhead second connecting rod 55 is connected to the overhead seat, the overhead rod is fixed on the overhead seat, the overhead fixed seat is fixed on a box body 51, the overhead rod penetrates through the overhead fixed seat in a sliding manner, the spring 54 is sleeved on the overhead rod between the overhead seat and the overhead fixed seat, the oil cylinder 53 is fixed on the box body 51, and a piston rod of the oil cylinder 53 is connected to the overhead rod. In the above elastic overhead mechanism, under the action of the spring 54, the spring 54 applies an elastic force to the overhead seat, and the overhead seat gives an overhead force to the overhead second link 55 and the overhead first link 59, so that the lock plate 56 is in the closed state, and the position of the lock plate 56 that is turned downward is limited by the stopper. If an external force is applied, such as the mushroom head of the deep submergence vehicle 6 is inserted into the plug hole in an overhead manner and the locking plate 56 is in an overhead manner, the locking plate 56 is turned upwards against the elastic force of the spring 54, the mushroom head enters the cavity, after the upper end of the mushroom head passes over the locking plate 56, the locking plate 56 is reset under the action of the spring 54, and the mushroom head is clamped on the locking plate 56 through the locking plate 56. If the mushroom head is released from the clamping, the oil cylinder 53 is started, the oil cylinder 53 drives the overhead rod to push the overhead seat to move against the elastic force of the spring 54, the overhead seat drives the overhead second link 55 and the overhead first link 59 to move, the locking plate 56 is opened, and the mushroom head can be separated from the locking plate 56.
As shown in fig. 2, the clamping device 4 includes two sets of symmetrically arranged clamping mechanisms, and each clamping mechanism includes two symmetrically arranged arc-shaped clamping arms 41, a roller 42 pivotally connected to the arc-shaped clamping arm 41, and a driving mechanism 43 for driving the two arc-shaped clamping arms 41 to open and close. The upper end of the arc-shaped clamping arm 41 is hinged on the suspension arm 3; the driving mechanism 43 comprises a driving oil cylinder 431 and a connecting rod 432, the cylinder body of the driving oil cylinder 431 is arranged on the suspension arm 3, the piston rods of the driving oil cylinder are respectively hinged with two connecting rods 432, and the lower ends of the connecting rods are hinged with the middle part of the arc-shaped clamping arm 41.
As shown in FIG. 1, the boom 3 is provided with a plurality of guide pulleys 31, and a ripcord wound on the winch 2 is guided along the guide pulleys 31 of the boom 3 to the end of the boom 3, and then passes through the box 51 and is connected with the mushroom head 73. The winch 2 can raise and lower the mushroom head 73 by winding and unwinding the ripcord 72.
As shown in fig. 4 to 7, the automatic line throwing device 7 includes a mushroom head 73 connected to the deep submergence vehicle 6, a line throwing 72, and a launcher 71. The launcher 71 is fixed on the deep submersible vehicle 6, the launcher 71 comprises a rear seat 711 and a bullet head 712, and the bullet head 712 is light in weight and can be launched through the rear seat 711. The bullet head 712 includes a housing 7213, a head 7211 and a winding 7212 connected to the head 7211, the head 7211 and the winding 7212 are provided in the housing 7213, a winding gap 7215 is formed between the housing 7213 and the winding 7212, one end of the throwing rope 72 is connected to the mushroom head 73, and the other end of the throwing rope 72 is wound on the winding 7212. The rear seat 711 is fixed on the deep submersible vehicle 6 through a supporting leg 7117, the supporting leg 7117 comprises a connecting rod 7118 and a connecting seat 7119, the connecting rod 7118 is connected with the rear seat 711, an included angle between the connecting rod 7118 and the connecting seat 7119 is an acute angle, so that the bullet 712 is inclined upwards, and the launching angle of the launcher 71 is adjusted to enable the bullet 712 to fall on the mother ship 1 due to the fact that a clamping plate of the mother ship 1 is high; the deep submersible vehicle 6 is provided with a mounting plate 61, the mounting plate 61 is provided with a plurality of mounting holes 62, the connecting seat 7119 is fixed on the mounting plate 61, and the emitter 71 can be arranged at different positions on the deep submersible vehicle 6 as required to be used as an emitting position for adjustment; a gas storage cavity 7116 is formed in the rear seat 711, an air inflation inlet 7115 which is communicated with the gas storage cavity 7116 is arranged on the rear seat 711, high-pressure air is injected into the gas storage cavity 7116 through the air inflation inlet 7115, and the high-pressure air has large pushing force and can push the bullet 712; the rear seat 7112 comprises a front panel 7111 and a rear shell 711, the front panel 7111 and the rear shell 711 define a gas storage cavity 7116, an air nozzle 7120 is arranged on the front panel 7111, the air nozzle 7120 is communicated with the gas storage cavity 7116, high-pressure air in the gas storage cavity 7116 is intensively sprayed through the air nozzle 7120 to form a strong power source, a winding part 7212 of the bullet head 712 is provided with a groove 7214 for accommodating the air nozzle 7120, and the matching of the air nozzle 7120 and the groove 7214 not only can fix the bullet head 712 on the rear seat 7112, but also can be used for receiving the spraying of high-pressure gas; a support 7113 is arranged on the front panel 7111 in the gas storage cavity 7116, an electromagnetic valve 7114 is arranged on the support 7113, the electromagnetic valve 7114 can block the air nozzle 7120, and the electromagnetic valve 7114 can be started through a remote controller to realize remote operation. Lifting lugs 74 are arranged on the deep submergence vehicle 6, the lifting lugs 74 are fixed on the mounting plate 61, and the mushroom heads 73 are connected with the lifting lugs 74.
As shown in FIG. 8, the single-rope recovery method of the armored cable deep submergence device comprises the following steps:
(1) the launcher is installed on the deep submersible vehicle and comprises a rear seat and a bullet head installed on the rear seat, and high-pressure gas used for pushing the bullet head is stored in the rear seat.
(2) One end of the throwing rope is fixed on the deep diving device through the mushroom head, the other end of the throwing rope is wound on the bullet head, and after the bullet head flies out, the throwing rope wound on the winding part can be automatically loosened.
(3) After the deep submergence vehicle is navigated back to the water surface near the mother ship, the launching angle of the deep submergence vehicle is adjusted through the position of the deep submergence vehicle so as to ensure the deep submergence vehicle is aligned with the mother ship.
(4) An operator on the mother ship establishes wireless connection with the electromagnetic valve of the transmitter through the remote controller and controls the transmitter to start through the remote controller.
(5) After the electromagnetic valve opens the air nozzle, high-pressure gas in the rear seat of the launcher is released and pushes the bullet head to fly out, and the bullet head drives the throwing rope to fly and fall on the mother ship; if the launched bullet head accidentally drops on the sea, the bullet head can float on the sea and is fished up in a manual fishing mode.
(6) An operator on the mother ship takes the throwing rope off the bullet head, and then one end of the throwing rope is wound on a winch on the mother ship through a butt joint locking mechanism and a guide pulley on the suspension arm;
(7) winding by a winch and hoisting the mushroom head and the deep submergence vehicle by a throwing rope;
(8) the mushroom head rises until the mushroom head is clamped at a butt joint locking mechanism at the end part of the suspension arm;
(9) and starting the suspension arm to suspend the deep submergence vehicle connected with the mushroom head on the mother ship to finish the retraction. The throwing rope is thrown onto the mother ship through the emitter, so that the operation of launching an operator is avoided, the risk of the operator is reduced, and the operation efficiency is improved; the operator can remotely operate the emitter through the remote controller, and the operation is convenient. In retrieving deep diving ware in-process, constantly rolling up by the winch along with throwing the rope, the mushroom head of deep diving ware stretches into butt joint locking mechanism, through butt joint locking mechanism locking mushroom head, lets the mushroom head of being connected with deep diving ware be difficult to break away from the davit, lets the recovery of deep diving ware more reliable, utilizes the recovery of winch to deep diving ware to raise the efficiency.
Claims (8)
1. A single-rope recovery method for an armored cable deep submergence vehicle is characterized by comprising the following steps:
(1) the launcher is arranged on the deep submersible vehicle and comprises a rear seat and a bullet head arranged on the rear seat, and high-pressure gas for pushing the bullet head is stored in the rear seat;
(2) fixing one end of a throwing rope on the deep submersible vehicle through a mushroom head, and winding the other end of the throwing rope on a bullet head;
(3) after the deep submergence vehicle is navigated back to the water surface near the mother ship, an operator on the mother ship controls the transmitter to start through the remote controller;
(4) high-pressure gas in a rear seat of the launcher is released and pushes the bullet head to fly out, and the bullet head drives the throwing rope to fly and fall on the mother ship or accessories of the mother ship;
(5) an operator on the mother ship takes the throwing rope off the bullet head, and then one end of the throwing rope is wound on a winch on the mother ship through a butt joint locking mechanism and a guide pulley on the suspension arm;
(6) winding by a winch and hoisting the mushroom head and the deep submergence vehicle by a throwing rope;
(7) the mushroom head rises until the mushroom head is clamped at a butt joint locking mechanism at the end part of the suspension arm;
(8) and starting the suspension arm to suspend the deep submergence vehicle connected with the mushroom head on the mother ship to finish the retraction.
2. The unarmored cable deep submergence vehicle single rope recovery method according to claim 1, wherein: the rear seat is provided with a gas storage cavity, the rear seat is provided with an inflation inlet, and the air compressor injects high-pressure air into the rear seat through the inflation inlet.
3. The unarmored cable deep submergence vehicle single rope recovery method according to claim 1, wherein: before the launcher launches, the launching angle of the launcher needs to be adjusted through the position of the deep submergence vehicle so as to ensure that the host ship is aligned.
4. The unarmored cable deep submergence vehicle single rope recovery method according to claim 1, wherein: the bullet head includes head and winding portion, throwing the rope and being spiral winding on the winding portion, the bullet head flies out the back, and the automatic pine of the rope of throwing of winding takes off on the winding portion.
5. The unarmored cable deep submergence vehicle single rope recovery method according to claim 1, wherein: and an electromagnetic valve for plugging the high-pressure gas nozzle is arranged in the rear seat, and the electromagnetic valve is in wireless communication with the remote controller.
6. The unarmored cable deep submergence vehicle single rope recovery method according to claim 1, wherein: the butt joint locking mechanism comprises a box body and two symmetrical locking plates arranged in the box body, an opening is formed in one side of each locking plate, the openings of the two locking plates form a plug hole, when the mushroom head rises to the butt joint locking mechanism, the head of the mushroom head jacks the two locking plates, after the head of the mushroom head penetrates through the plug hole, an annular groove in the mushroom head is clamped in the plug hole, and therefore the mushroom head is locked at the butt joint locking mechanism.
7. The unarmored cable deep submergence vehicle single rope recovery method according to claim 1, wherein: one end of the throwing rope is connected with the mushroom head, the mushroom head is connected with the lifting lug, and the lifting lug is connected with the deep submergence vehicle.
8. The unarmored cable deep submergence vehicle single rope recovery method according to claim 1, wherein: if the launched bullet head accidentally drops on the sea, the bullet head can float on the sea and is fished up in a manual fishing mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911030909.0A CN110816788B (en) | 2019-10-28 | 2019-10-28 | Single-rope recovery method for armored cable deep submergence vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911030909.0A CN110816788B (en) | 2019-10-28 | 2019-10-28 | Single-rope recovery method for armored cable deep submergence vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110816788A true CN110816788A (en) | 2020-02-21 |
| CN110816788B CN110816788B (en) | 2022-09-27 |
Family
ID=69550834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911030909.0A Active CN110816788B (en) | 2019-10-28 | 2019-10-28 | Single-rope recovery method for armored cable deep submergence vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110816788B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111932978A (en) * | 2020-08-19 | 2020-11-13 | 武汉交通职业学院 | Hanging type test platform |
| CN112278203A (en) * | 2020-11-12 | 2021-01-29 | 中船华南船舶机械有限公司 | Double-rope recovery device of deep submersible vehicle |
| CN112298497A (en) * | 2020-11-12 | 2021-02-02 | 中船华南船舶机械有限公司 | Double-rope recovery method for deep submergence vehicle |
| CN113460274A (en) * | 2021-08-06 | 2021-10-01 | 哈尔滨工程大学 | AUV (autonomous underwater vehicle) autonomous recovery/distribution device and implementation method thereof |
| CN113844617A (en) * | 2021-11-30 | 2021-12-28 | 杭州瀚陆海洋科技有限公司 | Rope throwing device and method of intelligent deep sea cable-free detection equipment |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101240990A (en) * | 2007-02-09 | 2008-08-13 | 北京送变电公司 | Pilot rope ejector and ejection bomb matching with ejector |
| US20100018449A1 (en) * | 2006-07-26 | 2010-01-28 | lfremer-Institut Francais de Recherche pour L'Exploitation de la Mer | Installation and method for recovering an underwater or marine vehicle |
| CN106342050B (en) * | 2008-06-20 | 2012-09-26 | 中国船舶重工集团公司第七一九研究所 | The cable ball float device of dishing out for a kind of submersible |
| CN104648635A (en) * | 2013-11-22 | 2015-05-27 | 中国科学院沈阳自动化研究所 | Separable floating body device used for recycling AUV (Autonomous Underwater Vehicle) |
| CN105711749A (en) * | 2016-02-03 | 2016-06-29 | 青岛远创机器人自动化有限公司 | Unmanned surface vehicle laying and retrieving method |
| CN106314691A (en) * | 2016-09-28 | 2017-01-11 | 青岛远创机器人自动化有限公司 | Unmanned-water-surface-aircraft deploying and recovering method |
| KR101739089B1 (en) * | 2016-03-29 | 2017-05-24 | 한국해양과학기술원 | A Device for Coupling between a Crane Cable and an Unmanned Surface Vehicle for the Launch and Recovery of an Unmanned Surface Vehicle from a Host Ship |
| CN107351999A (en) * | 2017-08-16 | 2017-11-17 | 中船华南船舶机械有限公司 | A kind of bathyscaph lays recovery system and lays recovery method |
| CN108820136A (en) * | 2018-05-29 | 2018-11-16 | 上海大学 | A kind of unmanned boat based on remote controler lays recovery control system and method |
| CN208602675U (en) * | 2018-08-14 | 2019-03-15 | 中国科学院沈阳自动化研究所 | Underwater robot lays the shooting rope mechanism of recovery system |
-
2019
- 2019-10-28 CN CN201911030909.0A patent/CN110816788B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100018449A1 (en) * | 2006-07-26 | 2010-01-28 | lfremer-Institut Francais de Recherche pour L'Exploitation de la Mer | Installation and method for recovering an underwater or marine vehicle |
| CN101240990A (en) * | 2007-02-09 | 2008-08-13 | 北京送变电公司 | Pilot rope ejector and ejection bomb matching with ejector |
| CN106342050B (en) * | 2008-06-20 | 2012-09-26 | 中国船舶重工集团公司第七一九研究所 | The cable ball float device of dishing out for a kind of submersible |
| CN104648635A (en) * | 2013-11-22 | 2015-05-27 | 中国科学院沈阳自动化研究所 | Separable floating body device used for recycling AUV (Autonomous Underwater Vehicle) |
| CN105711749A (en) * | 2016-02-03 | 2016-06-29 | 青岛远创机器人自动化有限公司 | Unmanned surface vehicle laying and retrieving method |
| KR101739089B1 (en) * | 2016-03-29 | 2017-05-24 | 한국해양과학기술원 | A Device for Coupling between a Crane Cable and an Unmanned Surface Vehicle for the Launch and Recovery of an Unmanned Surface Vehicle from a Host Ship |
| CN106314691A (en) * | 2016-09-28 | 2017-01-11 | 青岛远创机器人自动化有限公司 | Unmanned-water-surface-aircraft deploying and recovering method |
| CN107351999A (en) * | 2017-08-16 | 2017-11-17 | 中船华南船舶机械有限公司 | A kind of bathyscaph lays recovery system and lays recovery method |
| CN108820136A (en) * | 2018-05-29 | 2018-11-16 | 上海大学 | A kind of unmanned boat based on remote controler lays recovery control system and method |
| CN208602675U (en) * | 2018-08-14 | 2019-03-15 | 中国科学院沈阳自动化研究所 | Underwater robot lays the shooting rope mechanism of recovery system |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111932978A (en) * | 2020-08-19 | 2020-11-13 | 武汉交通职业学院 | Hanging type test platform |
| CN111932978B (en) * | 2020-08-19 | 2021-12-14 | 武汉交通职业学院 | Hanging type test platform |
| CN112278203A (en) * | 2020-11-12 | 2021-01-29 | 中船华南船舶机械有限公司 | Double-rope recovery device of deep submersible vehicle |
| CN112298497A (en) * | 2020-11-12 | 2021-02-02 | 中船华南船舶机械有限公司 | Double-rope recovery method for deep submergence vehicle |
| CN112278203B (en) * | 2020-11-12 | 2022-02-08 | 中船华南船舶机械有限公司 | Double-rope recovery device of deep submersible vehicle |
| CN113460274A (en) * | 2021-08-06 | 2021-10-01 | 哈尔滨工程大学 | AUV (autonomous underwater vehicle) autonomous recovery/distribution device and implementation method thereof |
| CN113460274B (en) * | 2021-08-06 | 2022-11-25 | 哈尔滨工程大学 | AUV (autonomous underwater vehicle) autonomous recovery/distribution device and implementation method thereof |
| CN113844617A (en) * | 2021-11-30 | 2021-12-28 | 杭州瀚陆海洋科技有限公司 | Rope throwing device and method of intelligent deep sea cable-free detection equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110816788B (en) | 2022-09-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110816788B (en) | Single-rope recovery method for armored cable deep submergence vehicle | |
| CA2658981C (en) | An installation and a method for recovering a surface marine vehicle or an underwater vehicle | |
| CN105711749B (en) | A kind of unmanned water surface aircraft lays recovery method | |
| CN108248765B (en) | Unmanned ship laying and recycling device | |
| CN107351999B (en) | Deep submersible vehicle cloth placement recovery system and cloth placement recovery method | |
| CA2658975C (en) | Apparatus for recovering a surface marine vehicle or an underwater vehicle | |
| CN103183113B (en) | Underwater robot recovery system and recovery method thereof | |
| US5253605A (en) | Method and apparatus for deploying and recovering water borne vehicles | |
| US5378851A (en) | System for handling a remotely operated vessel | |
| US20110192338A1 (en) | System for Automatically Launching and Retrieving an Underwater Drone | |
| KR101908914B1 (en) | Telescopic boom crane and launch and recovery apparatus for rov lars thereof | |
| CN208602648U (en) | The mechanical arm type of underwater robot lays recovery system | |
| CN110683022B (en) | Armored cable deep submersible vehicle single rope recycling device and recycling method | |
| CN112356989B (en) | Hanging type boat collecting and releasing device and method | |
| CN107521639A (en) | A kind of bathyscaph lays recovery butt-joint locking device and butt-joint locking method | |
| KR102019053B1 (en) | Telescopic boom crane and launch and recovery apparatus for rov lars thereof | |
| US6536743B2 (en) | Fixed umbilical cable flotation docking head | |
| JP2012206602A (en) | Underwater sailing body lifting and recovery method, and underwater sailing body lifting and recovery system | |
| CN114735169B (en) | Cloth-placement recovery device and cloth-placement recovery method applicable to polar AUV | |
| US3766742A (en) | Submarine tethered working unit and method of manipulating | |
| US6044786A (en) | Seismic cable retrieval system | |
| KR100422740B1 (en) | Method and system for attaching a lifting cable to a sunken article | |
| CN212172492U (en) | Single-rope recovery device of armored cable deep submersible vehicle | |
| CN217598785U (en) | Ship recovery device | |
| CN112278203B (en) | Double-rope recovery device of deep submersible vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |