CN111361687B - Automatic locking and unlocking mechanism and method applied to laying and recovering underwater towed body - Google Patents
Automatic locking and unlocking mechanism and method applied to laying and recovering underwater towed body Download PDFInfo
- Publication number
- CN111361687B CN111361687B CN201811587423.2A CN201811587423A CN111361687B CN 111361687 B CN111361687 B CN 111361687B CN 201811587423 A CN201811587423 A CN 201811587423A CN 111361687 B CN111361687 B CN 111361687B
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- locking
- sliding table
- connecting rod
- underwater towed
- towed body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/42—Towed underwater vessels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/56—Towing or pushing equipment
- B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/008—Docking stations for unmanned underwater vessels, or the like
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to an automatic locking and unlocking mechanism and method applied to an underwater towed body for deployment and recovery, wherein when the underwater towed body is deployed and recovered, the attitude of the underwater towed body is in a horizontal state, a V-shaped cover on a sliding table needs to be turned over to be in the horizontal state, and the locking and unlocking of the underwater towed body can be realized by means of a connecting rod mechanism; when the underwater towed body is laid, the hydraulic cylinder pushes the overturning sliding table to slide along the sliding rail, when the overturning sliding table runs to the lifting table, the main shell is overturned by depending on the support of the supporting legs, and meanwhile, the connecting rod mechanism is driven to unlock, and at the moment, laying of the underwater towed body can be realized by laying cables; when retrieving the body of dragging under water, push away the upset slip table to the upset state earlier, be the unblock state this moment, after the body of dragging under water gets into the main casing body of upset, the pneumatic cylinder withdraws, drives link mechanism locking body of dragging under water this moment. The mechanism of the invention is simple and compact, is flexible to use, and does not need other auxiliary locking and unlocking mechanisms; the method is simple and effective and has high reliability.
Description
Technical Field
The invention relates to underwater retraction equipment, in particular to an automatic locking and unlocking mechanism and method applied to laying and recovering an underwater towed body.
Background
The underwater towed body has very wide application on a surface ship, and can be used for the fields of topographic and geomorphic mapping, underwater target exploration, underwater object search, resource exploration and the like. At present, a carrying platform mainly depending on the underwater towed body is a large military and civil ship, the cost of human resources and the cost of equipment are very high, and the application of the underwater towed body is greatly restricted. Due to the severe marine environment and the constantly changing sea conditions, the unmanned autonomous retraction and towing operation of the underwater towed body is very difficult to realize.
At present, the laying and the recovery of underwater towed bodies at home and abroad are mainly completed by personnel, the whole process of laying and recovering the underwater towed bodies autonomously is not participated by people, and a mechanism with high reliability is needed to ensure the stability and the safety of the underwater towed bodies in the laying and the recovery of the underwater towed bodies and the transportation process. The research results of the mechanism and the method for automatically locking and unlocking the underwater towed body for deployment and recovery are not many.
Disclosure of Invention
Aiming at the work task of automatically deploying and recovering the underwater towed body based on the unmanned ship, the invention aims to provide an automatic locking and unlocking mechanism and method applied to deploying and recovering the underwater towed body.
The purpose of the invention is realized by the following technical scheme:
the mechanism comprises a sliding table support, a sliding table shaft pin, a connecting rod, a spring, a locking inserted rod, an inserted rod mounting seat, an overturning sliding table and a lifting table, wherein the overturning sliding table comprises a base, an overturning main shell, a V-shaped cover and supporting legs, the base is connected with a sliding rail mounted on a deck of a surface naval vessel in a sliding mode and hinged to a piston of a hydraulic cylinder arranged on the sliding rail, two sides of the overturning main shell are hinged to the sliding table support mounted on the base through the sliding table shaft pin respectively, the V-shaped cover is mounted on the overturning main shell, and the supporting legs are symmetrically mounted on two sides of the V-shaped cover; the locking insertion rod is inserted into the turnover main shell, a baffle is arranged on the locking insertion rod, the insertion rod mounting seat and the baffle are both positioned in the turnover main shell, and the insertion rod mounting seat is inserted into one end of the locking insertion rod; the other end of the locking inserted bar is positioned outside the turnover main shell and is connected with the sliding table shaft pin through a connecting rod, a spring is sleeved on the locking inserted bar, and two ends of the spring are respectively abutted against the baffle and the inner wall of the turnover main shell; the top of the sliding table support is provided with a convex part, and the connecting rod is pushed outwards by the convex part in the process of overturning along with the overturning main shell, so that the locking inserted rod and the inserted rod mounting seat are driven to move outwards along the axial direction to realize unlocking; a lifting platform for turning the turning sliding table is arranged on a deck of the surface vessel, and the lifting platform is positioned on a sliding track of the supporting leg along with the turning sliding table along the sliding rail;
wherein: the convex part protrudes outwards from bottom to top towards the outer side of the connecting rod, and the protruding part is an arc surface;
one end of the connecting rod is sleeved on the sliding table shaft pin, and the other end of the connecting rod is sleeved on the other end of the locking inserted rod and is fixed through a nut, so that a connecting rod mechanism is formed;
one end of the connecting rod is smaller than the other end of the connecting rod, a round hole B is formed in one end of the connecting rod, and a square hole A is formed in the other end of the connecting rod;
the surface of the lifting platform, which is in contact with the supporting leg, is an arc surface, one end of the supporting leg is connected with the V-shaped cover, and the other end of the supporting leg is hinged with a roller which is in rolling contact with the arc surface;
one end of the locking inserted rod is a cylinder, the other end of the locking inserted rod is a square column, and the baffle is arranged between the square column and the cylinder;
one end of the insertion rod mounting seat is a plane, the other end of the insertion rod mounting seat is a cambered surface, and a round hole C and a square hole B which are inserted into the locking insertion rod are formed in the plane respectively;
the base comprises a hydraulic cylinder connecting seat, a hydraulic cylinder sliding table connecting plate, a sliding block and a supporting seat, the end surface of the supporting seat is U-shaped, and the lower parts of two sides of the U-shaped opening end are respectively connected with the sliding block which is connected with the sliding rail in a sliding manner; the hydraulic cylinder sliding table connecting plate is U-shaped, two sides of the U-shaped opening end are fixedly connected with two sides of the supporting seat respectively, the hydraulic cylinder connecting seat is installed on the hydraulic cylinder sliding table connecting plate, and a piston of the hydraulic cylinder is hinged with the hydraulic cylinder connecting seat;
the method for automatically locking and unlocking the underwater towed body for deployment and recovery comprises the following steps:
when the underwater towed body is laid, the hydraulic cylinder pushes the overturning sliding table to slide along the sliding rail, when the overturning sliding table runs to the lifting table, the main shell is overturned by means of support of the supporting legs, the connecting rod is driven to overturn at the same time, the protruding part on the sliding table support pushes out the connecting rod outwards, the locking inserted rod and the inserted rod mounting seat are further driven to move outwards to realize unlocking, and then laying of the underwater towed body can be realized by laying cables; when retrieving the body of dragging under water, push away the upset slip table to the upset state earlier, be the unblock state this moment, after the body of dragging under water gets into the upset main casing body, the pneumatic cylinder withdraws, drives the upset slip table leaves and plays to rise the platform, this moment under the effect of spring, the locking inserted bar can drive the inserted bar mount pad and reset again, locks the body of dragging under water.
The invention has the advantages and positive effects that:
1. the mechanism of the invention has simple and compact structure, is one of the core mechanisms for laying and recycling, is flexible to use, and does not need other auxiliary locking and unlocking mechanisms.
2. The method is simple and effective, has high reliability, ensures that the underwater towed body is automatically locked and unlocked in an unmanned environment, and ensures the safety of the underwater towed body.
Drawings
FIG. 1 is a schematic perspective view of the automatic locking and unlocking mechanism of the present invention in an unlocked state;
FIG. 2 is a schematic perspective view of a roll-over ramp of the automatic locking and unlocking mechanism of the present invention;
FIG. 3 is an exploded view of FIG. 2;
FIG. 4 is a schematic perspective view of a carriage mount of the automatic locking and unlocking mechanism of the present invention;
FIG. 5 is a schematic perspective view of a link in the automatic locking and unlocking mechanism according to the present invention;
FIG. 6 is a schematic perspective view of a platform of the automatic locking and unlocking mechanism of the present invention;
FIG. 7 is a front view of the construction of the insert mounting seat in the automatic locking and unlocking mechanism of the present invention;
FIG. 8 is a schematic perspective view of a locking plunger of the automatic locking and unlocking mechanism of the present invention;
wherein: 1 is the slip table support, 101 is round hole A, 102 is the bulge, 2 is the slip table pivot, 3 is the connecting rod, 301 is round hole B, 302 is square hole A, 4 is the spring, 5 is the locking inserted bar, 501 is the cylinder, 502 is the baffle, 503 is the square column, 6 is the copper sheathing, 7 is the inserted bar mount pad, 701 is round hole C, 702 is square hole B, 8 is the upset main casing body, 9 is the landing leg mounting panel, 10 is the landing leg, 11 is the slide rail, 12 is the pneumatic cylinder, 13 is the upset slip table, 14 is the body of towing under water, 15 is for playing to rise the platform, 16 is the V-arrangement cover, 17 is the gyro wheel, 18 is the pneumatic cylinder connecting seat, 19 is the pneumatic cylinder slip table connecting plate, 20 is the slider, 21 is the supporting seat.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in figures 1-8, the automatic locking and unlocking mechanism of the invention comprises a sliding table support 1, a sliding table shaft pin 2, a connecting rod 3, a spring 4, a locking inserted bar 5, a copper bush 6, an inserted bar mounting seat 7, a turnover sliding table 13 and a lifting table 15, wherein the turnover slipway 13 comprises a base, a turnover main shell 8, a V-shaped cover 16, a supporting leg mounting plate 9 and a supporting leg 10, the base is connected with a slide rail 11 arranged on a deck of a surface naval vessel in a sliding way and is hinged with a piston of a hydraulic cylinder 12 arranged on the slide rail 11, two sides of a turnover main shell 8 are respectively hinged with a sliding table support 1 arranged on the base through sliding table shaft pins 2, a flange on a V-shaped cover 16 is fixedly connected with a flange on the turnover main shell 8 through bolts, the two sides of the V-shaped cover 16 are symmetrically provided with supporting legs 10, the upper end of each side of the side of each side of the V-shaped cover 16 of each side of the side of each side of the side of each side of the V-shaped cover is provided side of the V-shaped cover 16 of the side of each side of the V-shaped cover is provided with each side of the V-shaped cover 16 of each side of the V-shaped cover is provided with each side of the V-shaped cover 16 of the V-shaped cover is provided with the V-shaped. The locking inserted bar 5 is movably inserted on the turnover main shell 8, a baffle plate 502 is arranged on the locking inserted bar 5, the inserted bar mounting seat 7 and the baffle plate 502 are both positioned in the turnover main shell 8, and the inserted bar mounting seat 7 is inserted with one end of the locking inserted bar 5; the other end of the locking inserted bar 5 is positioned outside the turnover main shell body 8 and is connected with the sliding table shaft pin 2 through the connecting rod 3, the locking inserted bar 5 is sleeved with a spring 4, and two ends of the spring 4 are respectively abutted against the baffle 502 and the inner wall of the turnover main shell body 8. One end of the locking inserted rod 5 is a column 501, the other end is a square column 503, a baffle 502 is arranged between the square column 503 and the column 501, and the square column 503 extends out of the square hole C on the turnover main shell 8. One end of the inserted bar mounting seat 7 is a plane, the other end is an arc surface, a square hole B702 is formed in the middle of the plane, and a round hole C701 is concentrically formed in the square hole B702. The cylinder 501 at one end of the locking inserted bar 5 is inserted into the round hole C701 in the middle of the inserted bar mounting seat 7, and the baffle plate 502 is inserted into the square hole B702. One end of the connecting rod 3 is smaller than the other end, a round hole B301 is formed at one end of the connecting rod 3, and a square hole A302 is formed at the other end of the connecting rod. A round hole B301 at one end of the connecting rod 3 is sleeved on the sliding table shaft pin 3, and the diameter of the round hole B301 is larger than that of the sliding table shaft pin 3, so that the connecting rod 3 can move axially relative to the sliding table shaft pin 3; the square hole A302 at the other end of the connecting rod 3 is sleeved on the square column 503 of the locking inserted rod 5 and is fixed through a nut, so that the connecting rod 3 and the locking inserted rod 5 cannot be separated. The sliding table shaft pin 2, the connecting rod 3 and the locking inserted rod 5 form a connecting rod mechanism.
The slipway support 1 is a main supporting part for realizing the turnover of the turnover main shell 8, a convex part 102 is arranged at the top of the slipway support 1, the convex part 102 protrudes outwards from bottom to top towards the outer side of the connecting rod 3, and the convex part is an arc surface. In the process that the connecting rod 3 overturns along with the main overturning shell 8, the convex part 102 pushes outwards, and then the locking inserted rod 5 and the inserted rod mounting seat 7 are driven to move outwards along the axial direction, so that unlocking is realized.
A lifting platform 15 for turning the turning sliding table 13 is arranged on the deck of the surface vessel, and the lifting platform 15 is positioned on the sliding track of the supporting leg 10 along the sliding rail 11 along with the turning sliding table 13. The lifting platform 15 is a right-angled triangle, a right-angled side of the right-angled triangle is fixedly connected to the sliding rail 11, the inclined side is in contact with the supporting leg 10, the contact surface of the inclined side is an arc surface, one end of the supporting leg 10 is fixedly connected with the V-shaped cover 16 through the supporting leg mounting plate 9, and the other end of the supporting leg is hinged to a roller 17 in rolling contact with the arc surface.
The base comprises a hydraulic cylinder connecting seat 18, a hydraulic cylinder sliding table connecting plate 19, a sliding block 20 and a supporting seat 21, the end face of the supporting seat 21 is U-shaped, and the lower parts of two sides of the U-shaped opening end are respectively connected with the sliding block 20 which is in sliding connection with the sliding rail 11. The hydraulic cylinder sliding table connecting plate 19 is U-shaped, two sides of the U-shaped opening end are fixedly connected with two sides of the supporting seat 21 respectively, the hydraulic cylinder connecting seat 18 is installed on the hydraulic cylinder sliding table connecting plate 19, and a piston of the hydraulic cylinder 19 is hinged with the hydraulic cylinder connecting seat 18. The lower part of the sliding table support 1 is fixedly connected to the support seat 21, the upper part of the sliding table support is provided with a round hole A101, and the sliding table shaft pin 2 penetrates through the round hole A101; a copper sleeve 6 is arranged between the sliding table shaft pin 2 and the overturning main shell body 9, and the copper sleeve 6 and the overturning main shell body 8 are in clearance fit for ensuring smooth rotation.
The connecting rod mechanism for realizing locking and unlocking, the supporting legs and the supporting leg connecting plates are arranged in a bilateral symmetry mode.
The method comprises the following steps:
when the underwater towed body 14 is deployed and recovered, the attitude of the underwater towed body 14 is in a horizontal state, so that the V-shaped cover on the overturning sliding table 13 is required to be in a horizontal state or close to the horizontal state, and the underwater towed body can be locked and unlocked by means of one set of link mechanism according to the requirement.
The slipway support 1 is the supporting part of the entire roll-over slipway 13 and at the same time is the main part of the link mechanism, having the required structural strength.
When the underwater towed body 14 is laid, the hydraulic cylinder 12 pushes the turnover sliding table 13 to slide along the slide rail 11, and when the turnover sliding table 13 runs to the position of the lifting table 15 and the supporting legs 10 reach the lifting table 15, the turnover main shell 8 rotates for a set angle along the sliding table shaft pins 2 by the support of the supporting legs 10, and simultaneously drives the connecting rod 3 to turn over; at the moment, the convex part 102 on the sliding table support 1 pushes out the connecting rod 3 outwards, so as to drive the locking inserted rod 5 and the inserted rod mounting seat 7 to move outwards and realize unlocking; the laying of the underwater towed body 14 can be realized by laying the cable at this time.
When retrieving the underwater towed body 14, push away upset slip table 13 to the upset state earlier, be the unblock state this moment, after the underwater towed body 14 gets into the upset main casing body 8, pneumatic cylinder 12 withdraws, drives upset slip table 13 and leaves the platform 15 that rises, and under the effect of spring 4 pretension force, locking inserted bar 5 can drive inserted bar mount pad 7 and reset again this moment, locks the underwater towed body 14.
Claims (8)
1. The utility model provides an be applied to automatic locking and unlocking mechanism of body is pulled under cloth and retrieve, its characterized in that: the water surface ship lifting device comprises a sliding table support (1), a sliding table shaft pin (2), a connecting rod (3), a spring (4), a locking inserted rod (5), an inserted rod mounting seat (7), a turnover sliding table (13) and a lifting table (15), wherein the turnover sliding table (13) comprises a base, a turnover main shell (8), a V-shaped cover (16) and supporting legs (10), the base is slidably connected with sliding rails (11) mounted on a deck of a water surface ship and is hinged with pistons of hydraulic cylinders (12) arranged on the sliding rails (11), two sides of the turnover main shell (8) are respectively hinged with the sliding table support (1) mounted on the base through the sliding table shaft pin (2), the V-shaped cover (16) is mounted on the turnover main shell (8), and the supporting legs (10) are symmetrically mounted on two sides of the V-shaped cover (16); the locking insertion rod (5) is inserted into the turnover main shell (8), a baffle (502) is arranged on the locking insertion rod (5), the insertion rod mounting seat (7) and the baffle (502) are both positioned in the turnover main shell (8), and the insertion rod mounting seat (7) is inserted into one end of the locking insertion rod (5); the other end of the locking inserted bar (5) is positioned outside the turnover main shell (8) and is connected with the sliding table shaft pin (2) through a connecting rod (3), a spring (4) is sleeved on the locking inserted bar (5), and two ends of the spring (4) are respectively abutted against the baffle (502) and the inner wall of the turnover main shell (8); the top of the sliding table support (1) is provided with a convex part (102), and the connecting rod (3) is pushed outwards by the convex part (102) in the process of overturning along with the overturning main shell (8), so that the locking inserted rod (5) and the inserted rod mounting seat (7) are driven to move outwards along the axial direction to realize unlocking; a lifting platform (15) which enables the overturning sliding table (13) to overturn is arranged on a deck of the surface vessel, and the lifting platform (15) is positioned on a sliding track of the supporting leg (10) along the sliding rail (11) along with the overturning sliding table (13);
the convex part (102) protrudes outwards from bottom to top towards the outer side of the connecting rod (3), and the protruding part is an arc surface.
2. The automatic locking and unlocking mechanism applied to the deployment and recovery of the underwater towed body according to claim 1, is characterized in that: one end of the connecting rod (3) is sleeved on the sliding table shaft pin (3), the other end of the connecting rod is sleeved on the other end of the locking inserted rod (5) and fixed through a nut, and then a connecting rod mechanism is formed.
3. The automatic locking and unlocking mechanism applied to the deployment and recovery of the underwater towed body according to claim 2, is characterized in that: one end of the connecting rod (3) is smaller than the other end, a round hole B (301) is formed in one end of the connecting rod (3), and a square hole A (302) is formed in the other end of the connecting rod.
4. The automatic locking and unlocking mechanism applied to the deployment and recovery of the underwater towed body according to claim 1, is characterized in that: the contact surface of the lifting platform (15) and the supporting leg (10) is an arc surface, one end of the supporting leg (10) is connected with the V-shaped cover (16), and the other end of the supporting leg is hinged with a roller (17) which is in rolling contact with the arc surface.
5. The automatic locking and unlocking mechanism applied to the deployment and recovery of the underwater towed body according to claim 1, is characterized in that: one end of the locking inserted bar (5) is a cylinder (501), the other end of the locking inserted bar is a square column (503), and the baffle (502) is arranged between the square column (503) and the cylinder (501).
6. The automatic locking and unlocking mechanism applied to the deployment and recovery of the underwater towed body according to claim 1, is characterized in that: one end of the inserted bar mounting seat (7) is a plane, the other end of the inserted bar mounting seat is an arc surface, and a round hole C (701) and a square hole B (702) which are connected with the locking inserted bar (5) in an inserting mode are respectively formed in the plane.
7. The automatic locking and unlocking mechanism applied to the deployment and recovery of the underwater towed body according to claim 1, is characterized in that: the base comprises a hydraulic cylinder connecting seat (18), a hydraulic cylinder sliding table connecting plate (19), a sliding block (20) and a supporting seat (21), the end face of the supporting seat (21) is U-shaped, and the lower parts of two sides of the U-shaped opening end are respectively connected with the sliding block (20) which is in sliding connection with the sliding rail (11); pneumatic cylinder slip table connecting plate (19) are "U" shape, the both sides of this "U" shape open end respectively with the both sides rigid coupling of supporting seat (21), install on pneumatic cylinder slip table connecting plate (19) pneumatic cylinder connecting seat (18), the piston of pneumatic cylinder (12) is articulated with this pneumatic cylinder connecting seat (18).
8. The method for automatically locking and unlocking the mechanism applied to the deployment and recovery of the underwater towed body is characterized by comprising the following steps of: by adopting the automatic locking and unlocking mechanism of any one of claims 1 to 7, when the underwater towed body (14) is laid, the hydraulic cylinder (12) pushes the overturning sliding table (13) to slide along the sliding rail (11), when the overturning sliding table (13) runs to the lifting table (15), the overturning main shell (8) overturns and drives the connecting rod (3) to overturn by virtue of the support of the supporting leg (10), the convex part (102) on the sliding table support (1) pushes the connecting rod (3) outwards, so that the locking inserted rod (5) and the inserted rod mounting seat (7) are driven to move outwards to realize unlocking, and then the laying of the underwater towed body (14) can be realized by laying cables; when retrieving the body (14) of towing under water, push away upset slip table (13) to the upset state earlier, be the unblock state this moment, after towing body (14) entering upset main casing body (8) under water, pneumatic cylinder (12) are withdrawed, drive upset slip table (13) leave and rise platform (15), are in this moment under the effect of spring (4), locking inserted bar (5) can drive inserted bar mount pad (7) and reset again, locks and tows body (14) under water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811587423.2A CN111361687B (en) | 2018-12-25 | 2018-12-25 | Automatic locking and unlocking mechanism and method applied to laying and recovering underwater towed body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811587423.2A CN111361687B (en) | 2018-12-25 | 2018-12-25 | Automatic locking and unlocking mechanism and method applied to laying and recovering underwater towed body |
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| Publication Number | Publication Date |
|---|---|
| CN111361687A CN111361687A (en) | 2020-07-03 |
| CN111361687B true CN111361687B (en) | 2021-07-27 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| FR3125793A1 (en) * | 2021-07-27 | 2023-02-03 | Eca Robotics | Device for receiving a marine or submarine vehicle, in particular autonomous, from a ship. |
| FR3125794A1 (en) * | 2021-07-27 | 2023-02-03 | Eca Robotics | Recovery and/or launch system for marine or underwater vehicles, in particular autonomous, semi-autonomous or towed, from a ship. |
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| CN111361687A (en) | 2020-07-03 |
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