CN111932978A - Hanging type test platform - Google Patents
Hanging type test platform Download PDFInfo
- Publication number
- CN111932978A CN111932978A CN202010835443.8A CN202010835443A CN111932978A CN 111932978 A CN111932978 A CN 111932978A CN 202010835443 A CN202010835443 A CN 202010835443A CN 111932978 A CN111932978 A CN 111932978A
- Authority
- CN
- China
- Prior art keywords
- platform
- butt joint
- simulation
- test
- test platform
- 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
- 238000012360 testing method Methods 0.000 title claims abstract description 38
- 238000004088 simulation Methods 0.000 claims abstract description 42
- 210000001503 joint Anatomy 0.000 claims abstract description 38
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 16
- 239000000463 material Substances 0.000 claims abstract description 7
- 230000008878 coupling Effects 0.000 claims description 21
- 238000010168 coupling process Methods 0.000 claims description 21
- 238000005859 coupling reaction Methods 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 claims description 19
- 238000003032 molecular docking Methods 0.000 claims description 15
- 229920000642 polymer Polymers 0.000 claims description 12
- 238000005286 illumination Methods 0.000 claims description 9
- 238000011084 recovery Methods 0.000 claims description 9
- 230000001965 increasing effect Effects 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000005520 cutting process Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 2
- 239000002041 carbon nanotube Substances 0.000 claims description 2
- 229910021393 carbon nanotube Inorganic materials 0.000 claims description 2
- 239000000725 suspension Substances 0.000 claims description 2
- 238000012549 training Methods 0.000 abstract description 9
- 238000012546 transfer Methods 0.000 abstract description 5
- 230000003028 elevating effect Effects 0.000 abstract description 4
- 230000001788 irregular Effects 0.000 abstract description 4
- 239000003989 dielectric material Substances 0.000 abstract description 3
- 238000011161 development Methods 0.000 abstract description 2
- 238000009826 distribution Methods 0.000 description 4
- 230000009189 diving Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 229920005597 polymer membrane Polymers 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 229920006254 polymer film Polymers 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000013329 compounding Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/06—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The invention relates to the technical field of underwater test devices for ships and ocean engineering, in particular to a suspended test platform. The test platform can realize the simulation butt joint rescue and material transfer of the lifesaving clock, the lifesaving submersible vehicle, the deep-submergence lifeboat and the submarine, also can realize the butt joint of the shuttle submersible vehicle and the deep-sea space station, realizes the material transfer simulation, can develop the development, the test and the test of novel equipment, and can develop various training simultaneously. Through setting up elevating gear, can simulate different depth of water environment, and the diver can simulate the operation on water and under water under the different sea states of training. Based on the irregular wave superposition theory, the wave is accurately simulated by adopting the characteristics of electric actuation and frequency modulation of the high-elasticity dielectric material, a wave generator is not needed, and the cost is saved.
Description
Technical Field
The invention relates to the technical field of underwater diving equipment testing devices for ships and marine equipment, in particular to a suspended testing platform.
Background
At present, the rescue and lifesaving butt joint transfer exercise and training are mostly carried out on the sea, the exercise and the training are greatly influenced by factors such as seasons, sea conditions and the like, the preparation period in the early stage is long, the influence of the external environment is large in the test and training process, the emergency treatment difficulty is large, high-frequency training and testing are difficult to realize, and a simulation device of a related test simulation platform for the underwater exercise of personnel is lacked in the prior art. In CN1491852A of Shanghai traffic university, a ship motion simulation device is provided, and a hydraulic oil cylinder is arranged on a simulation platform to simulate the motions of rolling, pitching, heaving and the like of a ship; similar ship simulation platforms are also proposed by Tianjin institute of electrical and optical technology, Darui institute of technology, Inc. at CN 106781966A, however, the above structures cannot be applied to structures such as underwater vehicles, diving bells, etc., and cannot simulate deep water working environments. In addition, the structure relies on a mechanical structure to simulate the degree of freedom, real sea wave conditions cannot be accurately simulated, in the prior art, a research organization adopts a wave generator to simulate real sea waves, however, the mode is high in test cost, and the requirement on test sites is large.
Disclosure of Invention
In order to solve the technical problems, the invention provides a hanging type test platform which can realize the simulation butt joint rescue and material transfer of a life-saving clock, a life-saving submarine, a deep-submergence lifeboat and a submarine, can also realize the butt joint of a shuttle submergence device and a deep-sea space station, realizes the simulation of material transfer, can develop the development, the test and the experiment of novel equipment, and can develop various kinds of training. Through setting up elevating gear, can simulate different depth of water environment, and the diver can simulate the operation on water and under water under the different sea states of training. Based on the irregular wave superposition theory, the wave is accurately simulated by adopting the characteristics of electric actuation and frequency modulation of the high-elasticity dielectric material, a wave generator is not needed, and the cost is saved.
The invention relates to a hanging type test platform which comprises a simulation butt joint platform, a platform base, a platform inclination adjusting device, a lifting device, a distribution recovery device and a comprehensive control system, wherein the distribution recovery device comprises a winch, a suspender and a suspension cable, the distribution recovery device is used for lifting and lowering a tested object, and the tested object can be an underwater structure such as a deep submergence lifeboat, a shuttle submergence device, a diving bell and the like; the simulation butt joint platform comprises a platform end universal butt joint interface which is used for butt joint with a boat end universal butt joint interface of a measured object; the platform inclination adjusting device is in driving connection with the simulation butt joint platform to drive the simulation butt joint platform to perform six-degree-of-freedom motion, so that the six-degree-of-freedom motion is transmitted to a measured object; the platform inclination adjusting device is arranged on the platform base; the lifting device comprises a slide rail, a linear motor and a slide block, the slide block is fixedly connected with the platform base, the slide rail is arranged on the inner wall of the test pool, and the linear motor drives the slide block to move up and down in the slide rail so as to realize simulation of different deepwater pressures.
Preferably, the simulation docking platform and the platform end general docking interface are in driving connection through a coupling driving device, and the coupling driving device comprises a rotating motor for applying a rotating degree of freedom and a horizontal motor for further increasing the pitching or the rolling amplitude.
Preferably, the test platform comprises an illumination system, and the illumination system comprises an emergency illumination device and a common illumination device.
Preferably, the test platform comprises a simulated obstacle, a simulated pipeline and a simulated valve, and is used for a diver or an ROV to carry out obstacle clearing, repairing, cutting or welding tests.
As preferred, with the general butt joint mouth inside of the platform end that simulation butt joint platform links to each other is provided with coupling drive arrangement, coupling drive arrangement is connected with the general butt joint mouth drive of ship end, coupling drive arrangement includes a plurality of drive unit of series arrangement, drive unit includes high elastic polymer of dielectric, flexible electrode, braced frame and rigid frame, braced frame, the high elastic polymer of multilayer dielectric and rigid frame from the bottom up lay in proper order, flexible electrode coats in high elastic polymer of dielectric, realizes the simulation of small-amplitude disturbance wave through the electrostriction and the vibration frequency modulation of material.
Preferably, the dielectric high-elasticity polymer is a VHB film, and the flexible electrode is a carbon nanotube electrode.
Compared with the prior art, the invention has the following beneficial effects: through elevating gear, different depth of water pressure environment can be simulated to the simulation platform, and the dive personnel are when the operation simulation, more press close to actual environment under water.
Through set up coupling drive structure in general to the kneck, further increased the motion range, the simulation of being convenient for is big to the angle, avoids transferring the device stroke of inclining too big, meanwhile, because coupling drive structure sets up in general to the kneck, practices thrift the cost more.
When the coupling driving structure is a dielectric high-elastic polymer, the characteristic that the frequency of the coupling driving structure can be adjusted by electric actuation is utilized to simulate small-amplitude disturbance, and wave motion is simulated more accurately according to a linear wave superposition principle.
The invention has the beneficial technical effects that: through setting up elevating gear, can simulate different depth of water environment, and the diver can simulate the operation on water and under water under the different sea states of training. Based on the irregular wave superposition theory, the wave is accurately simulated by adopting the characteristics of electric actuation and frequency modulation of the high-elasticity dielectric material, a wave generator is not needed, and the cost is saved.
Drawings
FIG. 1 is a general layout of the present invention;
FIG. 2 is a schematic diagram of a series-connected driving unit;
fig. 3 is a schematic view of the connection of the drive units in series with the boat-end universal docking interface.
In the figure: the device comprises a simulation butt joint platform 1, a platform base 2, a platform inclination adjusting device 3, a sliding rail 4, a distribution recovery device 5, a measured object 6, a platform end universal butt joint 7, a boat end universal butt joint 8, a supporting frame 9, a dielectric high-elastic polymer film 10, a rigid frame 11, a driving unit 12 and a flexible electrode 13 which are connected in series.
Detailed Description
As shown in fig. 1, in this embodiment, the test platform includes a simulation docking platform 1, a platform base 2, a platform inclination adjusting device 3, a lifting device, a deployment and recovery device 5, and a comprehensive control system, where the deployment and recovery device 5 includes a winch, a boom, and a hoist cable, and the deployment and recovery device 5 is used for hoisting a measured object 6; the simulation butt joint platform 1 comprises a platform end universal butt joint port 7, and the platform end universal butt joint port 7 is used for butt joint with a boat end universal butt joint port 8 of a tested object 6; the platform inclination adjusting device is in driving connection with the simulation butt joint platform to drive the simulation butt joint platform to perform six-degree-of-freedom motion, so that the six-degree-of-freedom motion is transmitted to the measured object 6; the platform inclination adjusting device 3 is arranged on the platform base 2; the lifting device comprises a slide rail 4, a linear motor and a slide block, the slide block is fixedly connected with the platform base, the slide rail 4 is arranged on the inner wall of the test pool, and the linear motor drives the slide block to move up and down in the slide rail so as to realize simulation of different deepwater pressures.
Further, in the present embodiment, in order to simulate a larger amplitude of movement at a large docking angle, the docking platform 1 and the platform-end universal docking port 7 are in driving connection through a coupling driving device, which includes a rotating motor for applying a rotational degree of freedom and a horizontal motor for further increasing the pitch or yaw. Therefore, the use of a large-stroke cylinder or other platform inclination adjusting devices 3 is avoided, the coupling drive is arranged at the universal interface, and the cost is saved while large-amplitude movement is obtained.
In this embodiment, the wave motion is more accurately simulated according to the wave linear superposition theory.
The principle is based on the superposition principle of sea waves, the sea waves can be regarded as a stable random process and can be regarded as formed by superposing cosine waves with different periods and different random initial phases, according to the theory, a platform tilt adjusting device of a mechanical structure is adopted to simulate large-amplitude wave motion, a dielectric high-elastic polymer is adopted to simulate small-amplitude wave disturbance with rapid frequency change, and the wave motion is accurately simulated by simulating coupling superposition of the mechanical platform tilt adjusting device at the lower part of a butt joint platform and the dielectric high-elastic polymer motion.
As shown in fig. 2 and 3, in the case where the other structure is the same as that of the previous embodiment, the settings regarding the coupling driving means are: with the inside coupling drive arrangement that is provided with of the general interface of platform end that simulation docking platform links to each other, coupling drive arrangement is connected with the general interface drive of ship end, coupling drive arrangement includes a plurality of drive unit that series arrangement, drive unit includes high-elastic polymer membrane 10 of dielectric, flexible electrode 13, braced frame 9 and rigid frame 11, braced frame 9, draw together high-elastic polymer membrane 10 of dielectric and rigid frame 11 from the bottom up and lay in proper order, flexible electrode 13 coats in high-elastic polymer membrane 10 of dielectric, realizes the simulation of small-amplitude disturbance wave through the electrostriction and the vibration frequency modulation of material. The drive units 12 in series are connected to the universal docking port at about platform end universal docking port vertical height 2/3 through the support frame 9 of the outermost drive unit. The dielectric elastomeric polymer film 10 is formed by compounding multiple layers of elastomeric polymers.
During simulation, the controller decomposes the wave motion into large-amplitude wave motion and small-amplitude wave disturbance according to given sea conditions and a numerical algorithm generated by multidirectional irregular waves, and respectively solves instantaneous displacement and acceleration through a motion track inverse solution method and respectively applies the instantaneous displacement and the acceleration to each driving structure.
In the above embodiments, optionally, the following structures may be included:
the video monitoring system mainly comprises an underwater pressure-resistant high-definition camera set and a water surface high-definition camera set, and can realize video monitoring and image recording in the test process.
The lighting system mainly comprises an underwater pressure-resistant LED lighting lamp group and a water surface LED lighting lamp group, and can provide underwater and water lighting for the test platform. And consists of a lighting device and an emergency lighting device, wherein the emergency lighting device can continuously provide illumination when the common lighting device fails.
The simulation barrier, simulation pipeline, simulation valve mainly are used for diving operation person or ROV to carry out tests such as underwater obstacle clearance, restoration, cutting, welding.
The stroke of the platform lifting mechanism is 30 meters, the bearing capacity is 50 tons, and the moving speed is not less than 1 meter/second.
The simulation docking platform comprises a pressure-resistant simulation cabin section, a submarine docking platform, a deep-sea space station docking platform and the like, and is used for carrying out docking, transferring and other tests on a life-saving clock, a life boat and a shuttle submersible vehicle.
The platform inclination adjusting device adopts a platform inclination adjusting device and a six-degree-of-freedom Steward platform.
The platform inclination adjusting device can also be: the hydraulic drive system comprises six hydraulic drive actuating cylinders and six upper and lower universal hinges which can also be in various drive forms in the prior art.
Claims (6)
1. The utility model provides a hang formula test platform which characterized in that: the test platform comprises a simulation butt joint platform, a platform base, a platform inclination adjusting device, a lifting device, a laying recovery device and a comprehensive control system, wherein the laying recovery device comprises a winch, a suspender and a suspension cable, and is used for lifting a tested underwater structure; the simulation butt joint platform comprises a platform end universal butt joint port, and the platform end universal butt joint port is used for butt joint with a boat end universal butt joint port of the tested underwater structure; the platform inclination adjusting device is in driving connection with the simulation butt joint platform to drive the simulation butt joint platform to perform six-degree-of-freedom motion, so that the six-degree-of-freedom motion is transmitted to the tested underwater structure; the platform inclination adjusting device is arranged on the platform base; the lifting device comprises a sliding rail, a linear motor and a sliding block, the sliding block is fixedly connected with the platform base, the sliding rail is arranged on the inner wall of the test pool, the linear motor drives the sliding block to move up and down in the sliding rail so as to realize simulation of different deep water pressures, and the platform inclination adjusting device adopts a six-degree-of-freedom Steward platform.
2. The suspended test platform of claim 1, wherein: the simulation butt joint platform is in driving connection with the platform end general butt joint interface through a coupling driving device, and the coupling driving device comprises a rotating motor applying rotating freedom degrees and a horizontal motor further increasing pitching or heeling.
3. The suspended test platform of claim 2, wherein: the test platform comprises an illumination system, and the illumination system comprises an emergency illumination device and a common illumination device.
4. A suspended test platform according to claim 3, wherein: the test platform comprises a simulated barrier, a simulated pipeline and a simulated valve, and is used for a diver or an ROV to carry out barrier removal, repair, cutting or welding tests.
5. The suspended test platform of claim 1, wherein: with the general butt joint mouth inside of platform end that simulation docking platform links to each other is provided with coupling drive arrangement, coupling drive arrangement is connected with the general butt joint mouth drive of ship end, coupling drive arrangement includes a plurality of drive unit that series arrangement, drive unit includes high elastic polymer of dielectric, flexible electrode, braced frame and rigid frame, braced frame, the high elastic polymer of multilayer dielectric and rigid frame from the bottom up lay in proper order, flexible electrode coats in the high elastic polymer of dielectric, realizes the simulation of small-amplitude disturbance wave through the electrogenerated deformation and the vibration frequency modulation of material.
6. The suspended test platform of claim 5, wherein: the dielectric high-elasticity polymer is a VHB film, and the electrode is a carbon nano tube electrode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010835443.8A CN111932978B (en) | 2020-08-19 | 2020-08-19 | Hanging type test platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010835443.8A CN111932978B (en) | 2020-08-19 | 2020-08-19 | Hanging type test platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111932978A true CN111932978A (en) | 2020-11-13 |
| CN111932978B CN111932978B (en) | 2021-12-14 |
Family
ID=73304727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010835443.8A Expired - Fee Related CN111932978B (en) | 2020-08-19 | 2020-08-19 | Hanging type test platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111932978B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112763245A (en) * | 2020-12-23 | 2021-05-07 | 中国人民解放军92578部队 | Underwater release and expansion cylinder type experimental device of life raft system |
Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1491852A (en) * | 2003-09-04 | 2004-04-28 | 上海交通大学 | Ship motion simulator |
| WO2008050749A1 (en) * | 2006-10-25 | 2008-05-02 | Kabushiki Kaisha Fine Rubber Kenkyuusho | Whole-body phantom and process for producing the same |
| CN102859732A (en) * | 2010-05-04 | 2013-01-02 | 皇家飞利浦电子股份有限公司 | Actuator device with improved tactile characteristics |
| CN106342049B (en) * | 2008-06-20 | 2013-09-11 | 中国船舶重工集团公司第七一九研究所 | A kind of water surface without cable submersible lays recovery system |
| CN203854848U (en) * | 2014-04-22 | 2014-10-01 | 上海海洋大学 | Regulator used for oblique angle docking of rescue bell and lifesaving wirerope |
| US20140315451A1 (en) * | 2011-10-06 | 2014-10-23 | Japan Agency For Marine-Earth Science And Technology | Fixation releasing device |
| CN104485838A (en) * | 2014-11-04 | 2015-04-01 | 哈尔滨工业大学 | Stack type dielectric elastomer wave energy collector |
| CN104980059A (en) * | 2014-04-04 | 2015-10-14 | 北京纳米能源与***研究所 | Electric signal output device containing periodic bending structure |
| CN105047041A (en) * | 2015-07-24 | 2015-11-11 | 北京市星光凯明动感仿真模拟器中心 | Wave heaving stabilizing system and control method thereof |
| CN105206738A (en) * | 2015-10-26 | 2015-12-30 | 福建师范大学 | Electrically actuating material and electrical actuator |
| CN106781966A (en) * | 2015-11-25 | 2017-05-31 | 天津工大瑞工光电技术研究院有限公司 | A kind of multiple degrees of freedom Space Expanding motion simulation platform |
| CN107085987A (en) * | 2017-06-06 | 2017-08-22 | 衢州学院 | Active compensation of undulation analogy method and device based on marine crane barge job requirements |
| CN206456528U (en) * | 2016-11-28 | 2017-09-01 | 浙江大学 | A kind of adjustable sink-float platform of posture based on software intellectual material |
| 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 |
| CN107941538A (en) * | 2017-10-27 | 2018-04-20 | 天津大学 | A kind of submerged pipeline is laid with installation analog detection method |
| US20180252831A1 (en) * | 2017-03-02 | 2018-09-06 | Seabed Geosolutions B.V. | Elevator system on a subsea device for transfer of subsea payload |
| CN208789914U (en) * | 2018-08-01 | 2019-04-26 | 辽宁经济职业技术学院 | Deep submergence rescue vehicle multi-robot Underwater Docking Device |
| CN110097795A (en) * | 2019-04-25 | 2019-08-06 | 西安飞机工业(集团)航电科技工程有限公司 | A kind of helicopter simulating suspention survival training system and training method |
| CN110095302A (en) * | 2019-06-11 | 2019-08-06 | 西南石油大学 | FPSO upper module model test apparatus under a kind of simulation extreme sea condition |
| KR20190122978A (en) * | 2018-04-23 | 2019-10-31 | 주식회사 에이피에스 | Landward Side and Seaward Side Auxiliary Control System for Ship having Thruster |
| CN110568814A (en) * | 2019-09-30 | 2019-12-13 | 湖南科技大学 | Wave signal simulation device suitable for active heave compensation |
| CN110816788A (en) * | 2019-10-28 | 2020-02-21 | 中船华南船舶机械有限公司 | Single-rope recovery method for armored cable deep submergence vehicle |
| US20200160750A1 (en) * | 2018-11-20 | 2020-05-21 | Arizona Board Of Regents On Behalf Of Arizona State University | Method and Apparatus for Simulated Hydrodynamics in Mixed-Reality Fluid Vessels |
-
2020
- 2020-08-19 CN CN202010835443.8A patent/CN111932978B/en not_active Expired - Fee Related
Patent Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1491852A (en) * | 2003-09-04 | 2004-04-28 | 上海交通大学 | Ship motion simulator |
| WO2008050749A1 (en) * | 2006-10-25 | 2008-05-02 | Kabushiki Kaisha Fine Rubber Kenkyuusho | Whole-body phantom and process for producing the same |
| CN106342049B (en) * | 2008-06-20 | 2013-09-11 | 中国船舶重工集团公司第七一九研究所 | A kind of water surface without cable submersible lays recovery system |
| CN102859732A (en) * | 2010-05-04 | 2013-01-02 | 皇家飞利浦电子股份有限公司 | Actuator device with improved tactile characteristics |
| US20140315451A1 (en) * | 2011-10-06 | 2014-10-23 | Japan Agency For Marine-Earth Science And Technology | Fixation releasing device |
| CN104980059A (en) * | 2014-04-04 | 2015-10-14 | 北京纳米能源与***研究所 | Electric signal output device containing periodic bending structure |
| CN203854848U (en) * | 2014-04-22 | 2014-10-01 | 上海海洋大学 | Regulator used for oblique angle docking of rescue bell and lifesaving wirerope |
| CN104485838A (en) * | 2014-11-04 | 2015-04-01 | 哈尔滨工业大学 | Stack type dielectric elastomer wave energy collector |
| CN105047041A (en) * | 2015-07-24 | 2015-11-11 | 北京市星光凯明动感仿真模拟器中心 | Wave heaving stabilizing system and control method thereof |
| CN105206738A (en) * | 2015-10-26 | 2015-12-30 | 福建师范大学 | Electrically actuating material and electrical actuator |
| CN106781966A (en) * | 2015-11-25 | 2017-05-31 | 天津工大瑞工光电技术研究院有限公司 | A kind of multiple degrees of freedom Space Expanding motion simulation platform |
| CN206456528U (en) * | 2016-11-28 | 2017-09-01 | 浙江大学 | A kind of adjustable sink-float platform of posture based on software intellectual material |
| US20180252831A1 (en) * | 2017-03-02 | 2018-09-06 | Seabed Geosolutions B.V. | Elevator system on a subsea device for transfer of subsea payload |
| CN107085987A (en) * | 2017-06-06 | 2017-08-22 | 衢州学院 | Active compensation of undulation analogy method and device based on marine crane barge job requirements |
| 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 |
| CN107941538A (en) * | 2017-10-27 | 2018-04-20 | 天津大学 | A kind of submerged pipeline is laid with installation analog detection method |
| KR20190122978A (en) * | 2018-04-23 | 2019-10-31 | 주식회사 에이피에스 | Landward Side and Seaward Side Auxiliary Control System for Ship having Thruster |
| CN208789914U (en) * | 2018-08-01 | 2019-04-26 | 辽宁经济职业技术学院 | Deep submergence rescue vehicle multi-robot Underwater Docking Device |
| US20200160750A1 (en) * | 2018-11-20 | 2020-05-21 | Arizona Board Of Regents On Behalf Of Arizona State University | Method and Apparatus for Simulated Hydrodynamics in Mixed-Reality Fluid Vessels |
| CN110097795A (en) * | 2019-04-25 | 2019-08-06 | 西安飞机工业(集团)航电科技工程有限公司 | A kind of helicopter simulating suspention survival training system and training method |
| CN110095302A (en) * | 2019-06-11 | 2019-08-06 | 西南石油大学 | FPSO upper module model test apparatus under a kind of simulation extreme sea condition |
| CN110568814A (en) * | 2019-09-30 | 2019-12-13 | 湖南科技大学 | Wave signal simulation device suitable for active heave compensation |
| CN110816788A (en) * | 2019-10-28 | 2020-02-21 | 中船华南船舶机械有限公司 | Single-rope recovery method for armored cable deep submergence vehicle |
Non-Patent Citations (3)
| Title |
|---|
| 何晋等: "六自由度水下并联对接装置波浪力仿真", 《舰船科学技术》 * |
| 刘立武等: "电活性介电弹性体的本构理论和稳定性研究进展", 《中国科学:技术科学》 * |
| 李娟等: "新型深潜救生艇自动对接模拟试验装置研制", 《***仿真学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112763245A (en) * | 2020-12-23 | 2021-05-07 | 中国人民解放军92578部队 | Underwater release and expansion cylinder type experimental device of life raft system |
| CN112763245B (en) * | 2020-12-23 | 2021-08-03 | 中国人民解放军92578部队 | Underwater release and expansion cylinder type experimental device of life raft system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111932978B (en) | 2021-12-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2017107936A1 (en) | Offshore crane heave compensation control system and method using video rangefinding | |
| CN1121965C (en) | Apparatus and method for deploying object or load on seabed | |
| KR20100071070A (en) | Vessels with roll damping mechanism | |
| JPS6028996B2 (en) | Connecting device that connects the upper end of the assembled pipe device to the floating structure | |
| CN108622322A (en) | Compensation of undulation accommodation ladder system and control method for marine redundant labor transfer operation | |
| CN111932978B (en) | Hanging type test platform | |
| CN106044585A (en) | Offshore wind turbine integral hoisting device with multi-degree of freedom compensation | |
| CN203996823U (en) | Gravity swing ball formula following sea piston type hull self balancing device | |
| CN212990391U (en) | Hanging type underwater test platform | |
| CN106741763A (en) | Mini underwater observation type robot | |
| CN105253264A (en) | Sea wave compensation device of deepwater semi-submersible drilling platform and control method thereof | |
| CN106627985B (en) | A kind of submerged pipeline original position maintenance cabin | |
| CN114910978B (en) | Offshore autonomous lifting and sinking type probe penetration comprehensive monitoring platform and working method thereof | |
| CN208181382U (en) | It is a kind of to hang robot under water | |
| CN115503899A (en) | Hybrid-driven ocean platform cleaning and detecting robot and operation method thereof | |
| CN113895595B (en) | Hybrid-driven anchor chain cleaning and detecting robot and operation method thereof | |
| GB2120606A (en) | Lifting of support framework of offshore structures | |
| CN2898852Y (en) | Air-gun array retraction rack of two-purpose focus ship with sided-suspension and tracting functions | |
| CN212388514U (en) | Self-floating and submerging positioning and mounting device for steel frame by adopting air bag floating assistance | |
| CN113008684B (en) | Device and method for simulating mechanical characteristics of marine riser under motion excitation of platform | |
| CN116729174A (en) | Device for automatically charging and replacing cabin body of underwater robot and working principle of device | |
| CN111661252A (en) | Laying device of offshore seabed observation platform | |
| CN109368514B (en) | Wave compensation device for offshore floating crane | |
| CN111809591A (en) | Self-floating and submerging positioning and mounting device for steel frame by using air bag to assist floating and construction method | |
| CN114455033A (en) | Underwater equipment floating type test platform and use method thereof |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211214 |