CN112027039B - Emergency load rejection mechanism of manned submersible - Google Patents
Emergency load rejection mechanism of manned submersible Download PDFInfo
- Publication number
- CN112027039B CN112027039B CN202010993903.XA CN202010993903A CN112027039B CN 112027039 B CN112027039 B CN 112027039B CN 202010993903 A CN202010993903 A CN 202010993903A CN 112027039 B CN112027039 B CN 112027039B
- Authority
- CN
- China
- Prior art keywords
- ball head
- pull rod
- wedge
- iron core
- floating ring
- 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.)
- Active
Links
Images
Classifications
-
- 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
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Actuator (AREA)
Abstract
An emergency load rejection mechanism of a manned submersible comprises a hydraulic oil cylinder, wherein a static iron core, a shell and a base are fixedly installed at the bottom of the hydraulic oil cylinder, an internal thread hole is formed in the tail end of a piston rod of the hydraulic oil cylinder, a stepped groove is formed in a positioning threaded sleeve, the top end of a connecting pin is arranged in the stepped groove and can axially slide along the groove wall, and the positioning threaded sleeve is screwed into a threaded hole of the piston rod; a movable iron core is arranged below the static iron core, and threaded holes are formed in the upper end and the lower end of the movable iron core and are respectively connected with the connecting pin and the upper end of the stud; stepped holes are symmetrically arranged on two sides of the base, wedge-shaped limiting rods are respectively arranged in the stepped holes in a matched manner, a ball head pull rod is arranged in the middle of the base in a matched manner, a floating ring is arranged below the ball head pull rod, and the head of each wedge-shaped limiting rod is matched with the ball head pull rod and the floating ring; the top of the hanging shaft is in threaded connection with the ball head pull rod, and the bottom of the hanging shaft is connected with ballast through a lifting bolt. Flexible and reliable operation.
Description
Technical Field
The invention relates to the technical field of manned submersible vehicles, in particular to an emergency load rejection mechanism of a manned submersible vehicle.
Background
The manned submersible is one of the main tools for current ocean exploration and research, and is generally submerged and floated in an unpowered mode to save energy. The submersible is submerged to a preset working depth by virtue of negative buoyancy, a group of ballast is abandoned to ensure that the underwater weight and the buoyancy of the submersible are basically balanced, and then underwater work is carried out by adjusting the posture. After the submersible finishes working, the submersible obtains positive buoyancy by abandoning ballast, thereby floating out of the water surface. Because the buoyancy variation provided by the disposable ballast is large, the capacity of modes such as ballast water tank buoyancy regulation is limited, when the submersible fails and the ballast cannot be normally discarded, the submersible has the risk of incapability of floating upwards, and the safety of the submersible and personnel in the tank is seriously endangered. Therefore, the manned submersible is particularly necessary to be provided with a safe and reliable emergency load rejection mechanism.
The emergency load rejection mechanism in the prior art is realized by adopting modes of electric explosion bolt load rejection, direct push-pull load rejection of an oil cylinder and the like. The load rejection reliability of the electric explosion bolt is difficult to guarantee, and potential safety hazards of failure or mistaken rejection exist; the oil cylinder directly pushes and pulls the load rejection mechanism, which is heavy, the hydraulic source pressure is needed for driving load rejection, and the requirement on the submersible emergency power source is very high.
Disclosure of Invention
The applicant aims at the defects in the prior art and provides an emergency load rejection mechanism of a manned submersible, so that the reliability and the energy utilization efficiency of the load rejection mechanism are greatly improved, and the safety of the submersible is ensured.
The technical scheme adopted by the invention is as follows:
an emergency load rejection mechanism of a manned submersible comprises a hydraulic oil cylinder, wherein the top of the hydraulic oil cylinder is fixed with a framework of the submersible, a static iron core is fixedly mounted at the bottom of a cylinder body of the hydraulic oil cylinder, a shell is fixedly mounted at the bottom of the cylinder body of the hydraulic oil cylinder through a fastener, a base is arranged at the bottom of the shell, the static iron core is positioned in the shell, an internal threaded hole is formed in the tail end of a piston rod of the hydraulic oil cylinder, a stepped groove is formed in a positioning threaded sleeve, the top end of a connecting pin is arranged in the stepped groove and can axially slide along the groove wall, and the positioning; a movable iron core is arranged below the static iron core, threaded holes are formed in the upper end and the lower end of the movable iron core and are respectively connected with the connecting pin and the upper end of the stud, the connecting pin and the stud follow-up iron core move axially along the inner hole of the shell together, and the electromagnetic coil is circumferentially embedded in the shell;
stepped holes are symmetrically arranged on two sides of the base, wedge-shaped limiting rods are respectively installed in the stepped holes in a matched mode, a ball head pull rod is installed in the middle of the base in a matched mode, a floating ring is arranged below the ball head pull rod, the bottom of the ball head pull rod extends into the floating ring, the lower end of the stud extends into the ball head pull rod and the floating ring, and the bottom of the floating ring is fixed through a nylon bolt;
the head of the wedge-shaped limiting rod is matched with the ball head pull rod and the floating ring;
the top of the hanging shaft is in threaded connection with the ball head pull rod, and the bottom of the hanging shaft is connected with ballast through a lifting bolt.
The further technical scheme is as follows:
an annular groove is formed in the wedge-shaped limiting rod, and a compression spring is installed in the annular groove.
The upper surface of the head of the wedge-shaped limiting rod is a plane, the plane is matched with the ball head pull rod, and the lower surface of the head of the wedge-shaped limiting rod is a wedge surface.
The floating ring is of a bilateral symmetrical wedge-shaped structure, a round hole is formed in the middle of the floating ring, and a plurality of arc-shaped holes are uniformly distributed outside the round hole.
The structure of the ball head pull rod is as follows: the novel ball head comprises a ball head body, wherein a through hole is formed in the middle of the ball head body, a plurality of arc-shaped pull rods extend downwards from the bottom of the ball head body, the arc-shaped pull rods surround a circle, and an external thread is arranged on each arc-shaped pull rod.
The ball head pull rod, the wedge-shaped limiting rod and the floating ring are made of metal materials with low friction coefficients.
The invention has the following beneficial effects:
the ballast throwing and loading device is compact and reasonable in structure and convenient to operate, can conveniently realize ballast throwing and loading work through the matching work of the ball head pull rod, the floating ring and the wedge-shaped limiting rod and the power of electromagnetism or hydraulic pressure, and has simple and universal interfaces, easy installation and maintenance and good working reliability.
The hydraulic oil cylinder can realize load rejection through two modes of electromagnet energization and hydraulic oil cylinder contraction, has high reliability and ingenious structural design, greatly reduces the requirement on a corresponding emergency power source, and has high efficiency; adopt mechanical spacing prevention device mistake to throw under the non-operating condition, the security is high.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is an exploded view of the present invention.
Fig. 3 is a schematic view of the internal structure of the present invention (initial state).
Fig. 4 is a schematic view of the internal structure of the present invention.
Fig. 5 is a front view of the present invention.
Fig. 6 is a sectional view of section a-a in fig. 5.
Fig. 7 is a schematic view of the present invention in an operating state.
Fig. 8 is a schematic structural view of the ball tie rod of the present invention.
Fig. 9 is a schematic structural view of another view angle of the ball tie rod of the present invention.
Fig. 10 is a top view of the ball tie rod of the present invention.
Wherein: 1. an oil cylinder; 2. a piston rod; 3. positioning threaded sleeves; 4. connecting pins; 5. a stationary iron core; 6. a housing; 7. an electromagnetic coil; 8. a movable iron core; 9. a stud; 10. a ball head pull rod; 11. a wedge-shaped limiting rod; 12. a compression spring; 13. a base; 14. a floating ring; 15. a nylon bolt; 16. a hanging shaft; 17. a lifting eye screw;
1001. a ball head body; 1002. a circular arc-shaped pull rod;
1401. a circular hole; 1402. an arc-shaped hole.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1-7, the emergency load rejection mechanism of the manned submersible comprises a hydraulic oil cylinder 1, wherein the top of the hydraulic oil cylinder 1 is fixed with a framework of the submersible, a static iron core 5 is fixedly installed at the bottom of a cylinder body of the hydraulic oil cylinder 1, a shell 6 is fixedly installed at the bottom of the cylinder body of the hydraulic oil cylinder 1 through a fastener, a base 13 is arranged at the bottom of the shell 6, the static iron core 5 is positioned inside the shell 6, an internal thread hole is formed at the tail end of a piston rod 2 of the hydraulic oil cylinder 1, a stepped groove is formed inside a positioning threaded sleeve 3, the top end of a connecting pin 4 is arranged in the stepped groove and can axially slide along the groove wall, and; a movable iron core 8 is further arranged below the static iron core 5, threaded holes are formed in the upper end and the lower end of the movable iron core 8 and are respectively connected with the connecting pin 4 and the upper end of the stud 9, the connecting pin 4 and the stud 9 move axially along the inner hole of the shell 6 along with the movable iron core 8, and the electromagnetic coil 7 is circumferentially embedded in the shell 6;
stepped holes are symmetrically arranged on two sides of a base 13, wedge-shaped limiting rods 11 are respectively installed in the stepped holes in a matched mode, a ball head pull rod 10 is installed in the middle of the base 13 in a matched mode, a floating ring 14 is arranged below the ball head pull rod 10, the bottom of the ball head pull rod 10 extends into the floating ring 14, the lower end of a stud 9 extends into the ball head pull rod 10 and the floating ring 14, and the bottom of the floating ring 14 is fixed through a nylon bolt 15;
the head of the wedge-shaped limiting rod 11 is matched with the ball head pull rod 10 and the floating ring 14;
the device also comprises a hanging shaft 16, the top of the hanging shaft 16 is in threaded connection with the ball head pull rod 10, and the bottom of the hanging shaft 16 is connected with ballast through a lifting bolt 17.
An annular groove is arranged on the wedge-shaped limiting rod 11, and a compression spring 12 is arranged in the annular groove.
The upper surface of the head of the wedge-shaped limiting rod 11 is a plane which is matched with the ball head pull rod 10, and the lower surface of the head of the wedge-shaped limiting rod 11 is a wedge surface.
The floating ring 14 is in a bilateral symmetrical wedge-shaped structure, a round hole 1401 is formed in the middle of the floating ring 14, and a plurality of arc-shaped holes 1402 are uniformly distributed outside the round hole 1401.
The structure of the ball-end pull rod 10 is as follows: the novel ball head comprises a ball head body 1001, a through hole is formed in the middle of the ball head body 1001, a plurality of arc-shaped pull rods 1002 extend downwards from the bottom of the ball head body 1001, the arc-shaped pull rods 1002 form a circle, and external threads (not shown in the figure) are arranged on each arc-shaped pull rod 1002.
The ball head pull rod 10, the wedge-shaped limiting rod 11 and the floating ring 14 are made of metal materials with low friction coefficients.
The specific structure and function of the invention are as follows:
the method mainly comprises the following steps: the device comprises a hydraulic oil cylinder 1, a piston rod 2, a positioning threaded sleeve 3, a connecting pin 4, a static iron core 5, a shell 6, an electromagnetic coil 7, a movable iron core 8, a stud 9, a ball head pull rod 10, a wedge-shaped limiting rod 11, a compression spring 12, a base 13, a floating ring 14, a nylon bolt 15, a hanging shaft 16 and a lifting bolt 17.
In an initial state, a hydraulic oil cylinder 1 is hinged and hung on a submersible frame through a tail end pin shaft hole, a cylinder body of the hydraulic oil cylinder 1 is fixedly connected with a static iron core 5, a shell 6 and a base 13, the cylinder body of the hydraulic oil cylinder 1 is connected with the static iron core 5 through a head end flange, an external thread is radially arranged on the flange of the static iron core 5 and is fixedly connected inside the shell 6 through a thread, and the bottom of the shell 6 is fixed with the base 13 through a bolt connection;
an internal threaded hole is formed in the tail end of the piston rod 2, a stepped groove is formed in the positioning threaded sleeve 3, the top end of the connecting pin 4 is arranged in the stepped groove and can axially slide along the groove wall, and the positioning threaded sleeve 3 is screwed into the threaded hole of the piston rod 2;
the upper end and the lower end of the movable iron core 8 are provided with threaded holes which are respectively connected with the connecting pin 4 and the upper end of the stud 9 through threads, and the connecting pin 4 and the stud 9 move along the axial direction of the inner hole of the shell 6 along with the movable iron core 8; the electromagnetic coil 7 is embedded in the shell 6 in the circumferential direction;
the two sides of the wedge-shaped limiting rod 11 and the compression spring 12 are symmetrically arranged in a stepped hole between the shell 6 and the base 13, and the wedge-shaped limiting rod 11 can transversely move along the stepped hole;
through holes are formed in the ball-head pull rod 10 and the floating ring 14, and the lower end of the stud 9 penetrates through inner holes of the ball-head pull rod 10 and the floating ring 14 to be connected with a nylon bolt 15;
threaded holes are formed in the two ends of the hanging shaft 16, the upper threaded hole is in threaded connection with the tail end of the ball head pull rod 10, the lower threaded hole is screwed into a lifting bolt 17, and ballast is hung through the lifting bolt 17.
The electromagnetic coil 7 generates a magnetic field after being electrified, and attracts the movable iron core 8 to approach the static iron core 5; when the mechanism bears the working load, the strength of the nylon bolt 15 meets the following requirements: in the process that the floating ring 14 completely pushes the wedge-shaped limiting rod 11 away from the ball head pull rod 10, the nylon bolt 15 has no structural damage, and when the ball head pull rod 10 is separated from the limiting of the wedge-shaped limiting rod 11, the floating ring 14 is driven to downwards break the nylon bolt 15.
The ball head pull rod 10, the wedge-shaped limiting rod 11 and the floating ring 14 are made of metal materials with low friction coefficients;
the ball head of the ball head pull rod 10 is matched with the wedge-shaped surface of the wedge-shaped limiting rod 11, and when the ball head pull rod 10 moves in the direction below the wedge-shaped limiting rod 11, the ball head pull rod can smoothly move along the wedge-shaped surface and push the wedge-shaped limiting rod 11 outwards, so that the mechanism assembly is facilitated;
the floating ring 14 is in a shape of a symmetrical wedge on two sides, the wedge surface of the floating ring is matched with the wedge surface of the wedge-shaped limiting rod 11, and when the floating ring 14 moves in the direction below the wedge-shaped limiting rod 11, the floating ring can move along the wedge surface smoothly and push the wedge-shaped limiting rod 11 outwards;
the ball head pull rod 10 is provided with a special-shaped guide groove matched with the floating ring 14, the floating ring 14 can smoothly move up and down along the guide groove, and the floating ring 14 is completely attached to the groove surface of the ball head pull rod 10 when moving to the top.
The working principle of the invention is as follows:
as shown in fig. 3, when the emergency load rejection mechanism is in a non-working state, the piston rod 2 is in an extended state, the electromagnetic coil 7 is not powered on, the movable iron core 8 does not receive an upward pulling force, the compression spring 12 pretightening force drives the wedge-shaped limiting rods 11 at two sides to be in an extended state, the ball head pull rod 10 is supported, the lifting bolt 17, the lifting shaft 16 and the ball head pull rod 10 are fixedly connected through threaded connection, and then the load rejection iron is hung on the load rejection mechanism through the lifting bolt 17. When the submersible needs to discard ballast for emergency floating in case of emergency, as shown in fig. 4, the electromagnetic coil 7 is controlled to be electrified to generate a magnetic field, the movable iron core 8 is attracted to the static iron core 5 to approach, the connecting pin 4 and the stud 9 are driven to move upwards along the guide hole, the nylon bolt 15 pulls the floating ring 14 upwards along with the stud 9, the floating ring 14 is contacted with the wedge-shaped limiting rods 11 on two sides in the ascending process, the wedge-shaped limiting rods 11 are gradually pushed outwards to compress the spring 12 until the floating ring 14 is embedded into the groove of the ball-head pull rod 10, at the moment, the wedge-shaped limiting rods 11 are completely pushed away from the ball-head pull rod 10, the ball-head pull rod 10 loses upward support, the ballast gravity completely acts on the nylon bolt 15 through the floating ring 14 and breaks the nylon bolt, and the ball-head pull rod 10, the floating ring 14, the hanging shaft 16 and the hanging ring screw 17 are, then the wedge-shaped limiting rod 11 is restored to the original position under the action of the compression spring 12;
if the electromagnetic coil 7 is electrified and the floating ring 14 cannot be lifted and ballast is discarded, hydraulic emergency load rejection is adopted at the moment, as shown in fig. 5, oil is supplied to the hydraulic oil cylinder 1 to drive the piston rod 2 to retract, the positioning screw sleeve 3 pulls the end part of the connecting pin 4 to move upwards along with the piston rod 2 to drive the movable iron core 8 to move upwards and further lift the floating ring 14, and finally the ball pull rod 10, the floating ring 14, the hanging shaft 16 and the lifting ring screw 17 are discarded along with the ballast.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (6)
1. The utility model provides an emergent mechanism of throwing carrying of manned submersible ware, includes hydraulic cylinder (1), the top of hydraulic cylinder (1) is fixed with the frame of submersible ware, its characterized in that: the bottom of the cylinder body of the hydraulic oil cylinder (1) is fixedly provided with a static iron core (5), the bottom of the cylinder body of the hydraulic oil cylinder (1) is fixedly provided with a shell (6) through a fastener, the bottom of the shell (6) is provided with a base (13), the static iron core (5) is positioned inside the shell (6), the tail end of a piston rod (2) of the hydraulic oil cylinder (1) is provided with an internal threaded hole, a stepped groove is formed inside a positioning threaded sleeve (3), the top end of a connecting pin (4) is arranged in the stepped groove and can axially slide along the groove wall, and the positioning threaded sleeve (3) is screwed into the threaded hole of the piston rod; a movable iron core (8) is further arranged below the static iron core (5), threaded holes are formed in the upper end and the lower end of the movable iron core (8) and are respectively connected with the connecting pin (4) and the upper end of the stud (9), the connecting pin (4) and the stud (9) move along the axial direction of an inner hole of the shell (6) along with the movable iron core (8), and the electromagnetic coil (7) is circumferentially embedded in the shell (6);
stepped holes are symmetrically arranged on two sides of the base (13), wedge-shaped limiting rods (11) are respectively installed in the stepped holes in a matched mode, a ball head pull rod (10) is installed in the middle of the base (13) in a matched mode, a floating ring (14) is arranged below the ball head pull rod (10), the bottom of the ball head pull rod (10) extends into the floating ring (14), the lower end of the stud (9) extends into the ball head pull rod (10) and the floating ring (14), and the bottom of the floating ring (14) is fixed through nylon bolts (15);
the head of the wedge-shaped limiting rod (11) is matched with the ball head pull rod (10) and the floating ring (14);
the device is characterized by further comprising a hanging shaft (16), wherein the top of the hanging shaft (16) is in threaded connection with the ball head pull rod (10), and the bottom of the hanging shaft (16) is connected with ballast through a lifting eye screw (17).
2. The manned submersible emergency load rejection mechanism of claim 1, wherein: an annular groove is formed in the wedge-shaped limiting rod (11), and a compression spring (12) is installed in the annular groove.
3. The manned submersible emergency load rejection mechanism of claim 1, wherein: the upper surface of the head of the wedge-shaped limiting rod (11) is a plane, the plane is matched with the ball head pull rod (10), and the lower surface of the head of the wedge-shaped limiting rod (11) is a wedge surface.
4. The manned submersible emergency load rejection mechanism of claim 1, wherein: the floating ring (14) is of a bilaterally symmetrical wedge-shaped structure, a round hole (1401) is formed in the middle of the floating ring (14), and a plurality of arc-shaped holes (1402) are uniformly distributed outside the round hole (1401).
5. The manned submersible emergency load rejection mechanism of claim 1, wherein: the structure of the ball head pull rod (10) is as follows: the novel ball head comprises a ball head body (1001), a through hole is formed in the middle of the ball head body (1001), a plurality of arc-shaped pull rods (1002) extend downwards from the bottom of the ball head body (1001), a circle is formed by the arc-shaped pull rods (1002), and an external thread is arranged on each arc-shaped pull rod (1002).
6. The manned submersible emergency load rejection mechanism of claim 1, wherein: the ball head pull rod (10), the wedge-shaped limiting rod (11) and the floating ring (14) are made of metal materials with low friction coefficients.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010993903.XA CN112027039B (en) | 2020-09-21 | 2020-09-21 | Emergency load rejection mechanism of manned submersible |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010993903.XA CN112027039B (en) | 2020-09-21 | 2020-09-21 | Emergency load rejection mechanism of manned submersible |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112027039A CN112027039A (en) | 2020-12-04 |
| CN112027039B true CN112027039B (en) | 2021-06-08 |
Family
ID=73574011
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010993903.XA Active CN112027039B (en) | 2020-09-21 | 2020-09-21 | Emergency load rejection mechanism of manned submersible |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112027039B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115158615B (en) * | 2022-06-20 | 2023-10-31 | 烟台大学 | Deep sea bottoming load throwing device capable of preventing wave impact |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017066906A1 (en) * | 2015-10-19 | 2017-04-27 | 浙江大学 | Automatic oil discharging type buoyancy regulating device for underwater robot |
| CN107830180A (en) * | 2017-10-26 | 2018-03-23 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Manned underwater vehicle ballast tank breather valve |
| CN108032977A (en) * | 2018-01-09 | 2018-05-15 | 上海海洋大学 | A kind of underwater emergency jettison system |
| CN109334928A (en) * | 2018-11-01 | 2019-02-15 | 上海海事大学 | A kind of multiple throwing support method of deep sea manned submersible |
| CN109606592A (en) * | 2018-12-28 | 2019-04-12 | 中国船舶重工集团公司第七0研究所 | A kind of throwing load relieving mechanism |
| CN210235285U (en) * | 2019-06-06 | 2020-04-03 | 中电科海洋信息技术研究院有限公司 | Buoyancy adjusting device and underwater vehicle |
-
2020
- 2020-09-21 CN CN202010993903.XA patent/CN112027039B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017066906A1 (en) * | 2015-10-19 | 2017-04-27 | 浙江大学 | Automatic oil discharging type buoyancy regulating device for underwater robot |
| CN107830180A (en) * | 2017-10-26 | 2018-03-23 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Manned underwater vehicle ballast tank breather valve |
| CN108032977A (en) * | 2018-01-09 | 2018-05-15 | 上海海洋大学 | A kind of underwater emergency jettison system |
| CN109334928A (en) * | 2018-11-01 | 2019-02-15 | 上海海事大学 | A kind of multiple throwing support method of deep sea manned submersible |
| CN109606592A (en) * | 2018-12-28 | 2019-04-12 | 中国船舶重工集团公司第七0研究所 | A kind of throwing load relieving mechanism |
| CN210235285U (en) * | 2019-06-06 | 2020-04-03 | 中电科海洋信息技术研究院有限公司 | Buoyancy adjusting device and underwater vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112027039A (en) | 2020-12-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112027039B (en) | Emergency load rejection mechanism of manned submersible | |
| CN108032977A (en) | A kind of underwater emergency jettison system | |
| CN107933861B (en) | AUV retrieves and uses throwing rope ware | |
| CN207670635U (en) | A kind of underwater emergency jettison system | |
| CN103510459B (en) | Lifting opening and closing mechanism of perpendicular lifting type opening bridge | |
| CN209773352U (en) | Electromagnetic hammer power head | |
| CN112937818B (en) | Deep-sea dual-drive load rejection device and load rejection method thereof | |
| CN211076117U (en) | Climbing robot for pull rod detection | |
| CN111547277B (en) | Automatic locking and releasing mechanism with limiting function and locking and releasing operation method | |
| CN202030412U (en) | Mechanical automatic rail clamping device for vertical rail | |
| CN209216598U (en) | A kind of pool low temperature heap control rod drive mechanism electromagnet apparatus | |
| CN212967139U (en) | Remote control quick hoisting device of external screw thread | |
| CN103115123A (en) | Locking device of ball screw | |
| CN113212715A (en) | Underwater active-passive dual-drive load rejection device and operation method thereof | |
| CN108625785B (en) | A kind of electromagnetic type top drive casing appliances driving head | |
| CN207226892U (en) | A kind of brake device for elevator of improvement | |
| CN211975586U (en) | Offshore mooring leg connecting device capable of being locked and separated quickly | |
| CN204283294U (en) | Well head auxiliary unfreezing device matched with operation machine | |
| CN218384676U (en) | Novel electromagnet | |
| CN214367037U (en) | Energy recovery device, hydraulic lifting system and hybrid power system | |
| CN113202890B (en) | Combined braking device for distribution and recovery system | |
| CN213776172U (en) | Displacement compensation device for electromagnetic disc brake | |
| CN205260010U (en) | Balanced poor beam -pumping unit of it flat | |
| CN215485995U (en) | Inner wall lateral slotting equipment for deep mine | |
| CN217508551U (en) | Permanent magnet motor assembling device |
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 |