CN107054594B - A kind of separation type hydraulic jettison system triggered by depth - Google Patents
A kind of separation type hydraulic jettison system triggered by depth Download PDFInfo
- Publication number
- CN107054594B CN107054594B CN201710349486.3A CN201710349486A CN107054594B CN 107054594 B CN107054594 B CN 107054594B CN 201710349486 A CN201710349486 A CN 201710349486A CN 107054594 B CN107054594 B CN 107054594B
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- Prior art keywords
- mounting base
- throwing
- hydraulic
- depth
- main body
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- 238000000926 separation method Methods 0.000 title claims abstract description 25
- 230000001960 triggered effect Effects 0.000 title claims abstract description 15
- 239000007788 liquid Substances 0.000 claims abstract description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims description 5
- 230000013011 mating Effects 0.000 claims description 3
- 239000013535 sea water Substances 0.000 abstract description 10
- 230000000295 complement effect Effects 0.000 abstract description 4
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 239000003921 oil Substances 0.000 description 7
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 239000011324 bead Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Emergency Lowering Means (AREA)
- Pressure Vessels And Lids Thereof (AREA)
Abstract
The invention discloses a kind of separation type hydraulic jettison systems triggered by depth, including main body connector and throwing to carry module, and the throwing carries module and includes：It throws and carries mounting base；It is detachably connected unit, is mounted on and throws in load mounting base, be detachably connected by active connection and the main body connector；The liquid that liquid pressure-sensitive unit includes the flexible container contacted with water body and is filled in the flexible container；Hydraulic drive unit includes the hydraulic-driven chamber being connected to the flexible container, mounted on the piston of the hydraulic-driven intracavitary and with piston connection for driving the active connection to make to be detachably connected the power output end that unit is detached with main body connector；The present invention is acted using the pressure of seawater to complete to throw load, its complementary energy need not be consumed, and is based on environmental pressure automatic trigger, and full mechanical mechanism design is reliable for operation；Submariner device main body will not be damaged by throwing load action, ensure personnel or data safety.
Description
Technical field
The present invention relates to the emergency ascent technology of underwater equipment, more particularly to a kind of separation type hydraulic by depth triggering is thrown
It carries and sets.
Background technology
Ocean development at present becomes one of China's grand strategy, and China is greatly developing ocean correlation submariner device.It is various
Someone, autonomous underwater vehicle are likely to occur out of control, the prominent chance seawater cliff of displacement in operation and quickly sink, and are more than that its design safety is deep
Degree, heavy losses are caused to personnel safety or the information collected.
To solve the above-mentioned problems, researcher proposes various jettison systems, such as Publication No. 204210719U
Patent document discloses a kind of underwater manned submariner device load rejection mechanism, including power unit, mounting bracket, support base and axis pin, peace
On the mounting platform for shelving affixed submariner device manned under water, power unit is fixed on by support base on mounting bracket, and is passed through
Seal closure seals；The power output end of power unit is connected with axis pin, for driving axis pin to be moved along its axis direction.Axis pin position
In in the centre bore of mounting bracket, mounting bracket is equipped with the centre bore cooperation with ballast after the part stretching mounting platform of axis pin；Pressure
Carry and be machined with curved channel on the inner peripheral surface of centre bore, on mounting bracket periphery corresponding with curved channel there are two distributions with
Upper steel bead groove, each steel bead groove is interior to place a steel ball；The lower end of the axis pin is the circular conical surface to contract；By steel ball with
On ballast the cooperation of curved channel with detach, realize carry and the release of ballast.
In another example the patent document of Publication No. 104015901A discloses hand underwater ejection device, including pass through water
Under manned equipment compartment body wall sleeve, sleeve is locked on nacelle wall, and axis pin passes through sleeve and is rotatably supported in sleeve,
It is watertight connection between sleeve and underwater manned equipment nacelle, between sleeve and axis pin；Locked by hooks is positioned at underwater manned
On the axis pin shaft part of the external side of equipment compartment, bolt is threaded through in the hook part with gap of hook, the lifting lug set on ballast box
It is located on bolt, hook is with the equal axial limiting of lifting lug on bolt；Axis pin is located in underwater manned equipment compartment body on the shaft part of side
It is connected with connection handle, the connection handle other end has been rotatably coupled handle, and lantern ring is slideably socketed on handle, is set on lantern ring
There is the internal thread being connect with connection handle upper external screw thread, when lantern ring is threadedly coupled with connection handle, the rotation of handle and connection handle connects
Place is met to be located in lantern ring.
Above-mentioned both of which needs artificial triggering, can not cope with special situation, thus design it is a by ocean depth from
Such issues that device that load action is thrown in dynamic triggering can effectively solve the problem that.And in existing related jettison system, there are some disadvantages：
Some is triggered using motor or electromagnet, and energy consumption is big；Some automatically controlled triggerings of use, it is less reliable；Some uses blasting bolt
Separation, but explosion may cause to damage to submariner device main body, threaten personnel or data safety.
Invention content
The present invention provides a kind of separation type hydraulic jettison systems triggered by depth, and pure mechanic structure, control is reliable, carries
The safety of high dive.
A kind of separation type hydraulic jettison system triggered by depth, including main body connector and throwing carry module, and the throwing carries
Module includes：
It throws and carries mounting base；
It is detachably connected unit, is mounted on and throws in load mounting base, it is removable by active connection and the main body connector
Unload connection；
The liquid that liquid pressure-sensitive unit includes the flexible container contacted with water body and is filled in the flexible container；
Hydraulic drive unit is mounted on and throws in load mounting base, includes the hydraulic-driven chamber being connected to the flexible container, peace
It is connect mounted in the piston of the hydraulic-driven intracavitary and with piston for driving the active connection to make to be detachably connected unit
The power output end detached with main body connector.
For the present invention in use, when equipment is sink to danger sounding under water, seawater pressure makes the liquid in liquid pressure-sensitive unit
It is flowed to hydraulic drive unit, liquid driven piston makes power output end work in turn, and driving active connection makes detachably to connect
Order member is detached with main body connector.
It completes to throw load action with the pressure of seawater, its complementary energy need not be consumed, be based on environmental pressure automatic trigger, entirely
Mechanical mechanism designs, reliable for operation.It is thrown and is carried using separate structure, thrown load is also part executing agency so that structure is more
Step up to gather.Submariner device main body will not be damaged by throwing load action, ensure personnel or data safety.
The structure for being detachably connected unit can be set as needed, in order to ensure to efficiently separate, it is preferred that
There is the main body connector connection bump that extends along detaching direction, the unit that is detachably connected to include：
Movable latch, be slidably mounted on the throwing carry in mounting base and one end tilt or vertical separation direction be inserted into institute
State connection bump；
Return springs are connected between the locating piece of the movable latch and the mounting groove bottom for throwing load mounting base；
Return springs can be compressed spring.
Cam is rotatably installed in the throwing load mounting base and surface is abutted with described movable latch one end, the hydraulic pressure
The power output end locking cam shaft of driving unit.The liquid pressure-sensitive unit driving power output end unlock.Cam is in week
To the parts reliable lock to radially contacting with when fixing；It is radial to unlock reliable in action when releasing cam is circumferentially fixed；And
With advantages of simple structure and simple.
In order to can be also effectively separated at deep-sea, it is preferred that the throwing carries between mounting base and the main body connector
Equipped with disengagement chamber, the connection bump is to form at least partly side wall of disengagement chamber, and at least partly side wall is equipped with water inlet
Hole, the movable latch are inserted into hermetic separation chamber in the inlet opening.When submariner device is more than surprisingly safety depth, movable latch is de-
Go out inlet opening, to which seawater enters disengagement chamber, because inside and outside differential pressure is equal, throwing load module and main body connector is made to efficiently separate.
In order to facilitate manufacturing and install, it is preferred that the disengagement chamber includes：
First parting surface, the one side of the main body connector；
First annular surrounding edge, first parting surface are thrown to carry and be extended to form to detaching direction；
Second parting surface, described throw carry the mounting base one side opposite with first parting surface, and the throwing carries mounting base
It is mating with the first annular surrounding edge.
It is carried to be more easy to throw, it is preferred that the first annular surrounding edge and the grafting thrown between carrying mounting base face out
It tilts.
Preferably, the angle that the first annular surrounding edge and the plug surface thrown between carrying mounting base are inclined outwardly is 5 °
~10 °.
Occur in order to prevent foreign object touch liquid pressure-sensitive unit touch cause maloperation, it is preferred that the liquid pressure-sensitive unit is also
Include being equipped with through-hole with the radome fairing for throwing and carrying mounting base and connecting, the radome fairing, the liquid pressure-sensitive unit is mounted on
In the radome fairing.It is machined with through-hole on radome fairing, liquid pressure-sensitive unit may make to contact seawater.Preferably, the liquid pressure-sensitive
Unit is pressure-sensitive oil sac.
The depth carried can be thrown to adjust triggering conveniently by adjustment spring initial length, and its is simple in structure, cost
It is cheap.
Preferably, the hydraulic drive unit further includes：
Fixed seat is mounted on the throwing and carries in mounting base；
Elastic component is connected between the fixed seat and the power output end；
Flexible adjustment part, the elastic force for adjusting the elastic component.
In order to facilitate the installation of and manufacture, it is preferred that the elastic component be pressure spring, the flexible adjustment part be mounted on
Adjusting bolt in the fixed seat.
Preferably, the hydraulic-driven chamber is equipped with differential pressure circuit.Hydraulic oil passes through differential circuit, single-rod cylinder rodless cavity
Force difference is formed with rod chamber, which balances with pressure spring.
Beneficial effects of the present invention：
The separation type hydraulic jettison system by depth triggering of the present invention is acted using the pressure of seawater to complete to throw load, no
It needs to consume its complementary energy, is based on environmental pressure automatic trigger, full mechanical mechanism design is reliable for operation；Using separate structure
It throws and carries, thrown load is also part executing agency so that structure is compacter；Submariner device main body will not be damaged by throwing load action
Wound ensures personnel or data safety.
Description of the drawings
Fig. 1 is the schematic cross-sectional view of the separation type hydraulic jettison system by depth triggering of the present invention.
Fig. 2 is schematic cross-sectional views of the Fig. 1 in the directions A-A.
Fig. 3 is the partial enlarged view of B in Fig. 2.
Specific implementation mode
As shown in Figures 1 to 3, the separation type hydraulic jettison system by depth triggering of the present embodiment includes：Connect as main body
The submariner device connecting plate 1 of fitting and throwing carry module, throw load module and include：It throws and carries mounting base；It is detachably connected unit, is mounted on and throws
It carries in mounting base, is detachably connected by active connection and pressure spring main body connector；Liquid pressure-sensitive unit, including with water
The flexible container of body contact and the liquid being filled in pressure spring flexible container；Hydraulic drive unit, including with pressure regulation bullet
The hydraulic-driven chamber of spring flexible container connection is mounted on the piston of the hydraulic-driven intracavitary and is connect with piston and adjusted for driving
Pressing spring active connection makes to be detachably connected the power output end that unit is detached with main body connector.
Throwing load mounting base includes：It throws support plate 3 and is fixedly mounted on the hydraulic system connecting plate 5 thrown on support plate 3, throw support plate 3
It is equipped with hydraulic system installation space between hydraulic system connecting plate 5 and is equipped with, O-ring 4, hydraulic drive unit is mounted on should
In hydraulic system installation space.
In the present embodiment, hydraulic drive unit includes：Single-rod cylinder 11 connects with the power output end of single-rod cylinder 11
The shift fork 12 connect, is equipped with the integrated package 7 of differential circuit, regulator bolts seat 13, pressure spring 14 and regulator bolts 15, shift fork 12 with
Pressure spring 14 abuts, and differential circuit is sealed by hydraulic pressure plug 8.
In the present embodiment, being detachably connected unit includes：Level is slidably mounted on the bolt on hydraulic system connecting plate 5
24, the compressed spring 25 being pushed against between hydraulic system connecting plate 5 and bolt 24 is mounted on and throws support plate 3 and submariner device connecting plate 1
Between cam 21, by the main shaft 23 of 20 drive connection cam 21 of flat key, two round nuts 17 and two bearings 18；Throw support plate
Form disengagement chamber between 3 and submariner device connecting plate 1, the annular surrounding edge of disengagement chamber extended downwardly by submariner device connecting plate 1 first
Annular surrounding edge and throwing 3 grafting of support plate form, and throw support plate 3 in inside, plug surface is inclined outwardly 5 °~10 °, and main shaft 23 extends downwardly
To hydraulic system installation space, 23 lock cam 21 of main shaft is inserted into one end of shift fork 12, and 24 one end of bolt is pushed against with cam 21,
The other end is inserted into the cotter way of first annular surrounding edge, and O-ring 19 is equipped between cotter way and bolt 24, and first annular surrounding edge and throwing carry
Pin 22 is also associated between plate 3 to further fix；The other end of main shaft 23 is equipped with end cover 16.
In the present embodiment, liquid pressure-sensitive unit is pressure-sensitive oil sac 10, is mounted on the lower section of hydraulic system connecting plate 5, pressure-sensitive
Oil sac 10 is connect with differential circuit by pipe fitting 9 and is connected to single-rod cylinder 11, and radome fairing is equipped with outside pressure-sensitive oil sac 10
6, radome fairing 6 is equipped with multiple through-holes.
The course of work of the present embodiment is as follows：
It is machined with through-hole on radome fairing 6, pressure-sensitive oil sac 10 may make to contact seawater.Hydraulic oil passes through differential circuit, single pole
The rodless cavity of hydraulic cylinder 11 forms force difference with rod chamber, which balances with pressure spring 14.
When no throwing carries, shift fork 12 is located in the slot of main shaft 23, makes main shaft 23,21 Peripheric locking of cam.21, cam
Support bolt 24 is close to throw on support plate 3, and bolt 24 and submariner device connecting plate 1 are mating, ensures that throw support plate 3 connect with submariner device
Plate 1 is connected.
When submariner device is more than surprisingly safety depth, 10 oil liquid pressure of pressure-sensitive oil sac increases, and single-rod cylinder bar 11 pushes
Pressure spring 14 is overhanging, and shift fork 12 is made to extract.At this point, cam 21 loses Peripheric locking power, bolt 25 is in seawater pressure and pressure
It is extracted from submariner device connecting plate under the collective effect of contracting spring 25.At this time seawater enter submariner device connecting plate 1 with throw support plate 3 it
Between disengagement chamber, make internal and external pressure balance.Since submariner device connecting plate 1 coordinates with support plate 3 is thrown by inclined surface, and the two loses
Axial clamping force realizes that throwing support plate 3 detaches with submariner device connecting plate 1, realizes and throws load.It can be adjusted by adjusting regulator bolts 15
Fixed triggering, which is thrown, carries pressure value.
In conclusion the separation type hydraulic jettison system by depth triggering of the present embodiment utilizes spring thrust energy and sea
Foreign pressure acts to complete to throw load, need not consume its complementary energy.Based on environmental pressure automatic trigger, full mechanical mechanism design,
It is reliable for operation.It is thrown and is carried using separate structure, thrown load is also part executing agency so that structure is compacter.It throws to carry and move
Work will not damage submariner device main body, ensure personnel or data safety.Complete modular designs are applicable to a variety of submariners
Device.
Claims (9)
1. a kind of separation type hydraulic jettison system triggered by depth, including main body connector and throwing carry module, which is characterized in that
The throwing carries module：
It throws and carries mounting base；
It is detachably connected unit, is mounted on and throws in load mounting base, detachably connected by active connection and the main body connector
It connects；
The liquid that liquid pressure-sensitive unit includes the flexible container contacted with water body and is filled in the flexible container；
Hydraulic drive unit is mounted on and throws in load mounting base, includes the hydraulic-driven chamber being connected to the flexible container, be mounted on
It the piston of the hydraulic-driven intracavitary and is connect with piston for driving the active connection to make to be detachably connected unit and master
The power output end of body connector separation；
There is the main body connector connection bump that extends along detaching direction, the unit that is detachably connected to include：
Movable latch, be slidably mounted on the throwing carry in mounting base and one end tilt or vertical separation direction be inserted into the company
Connect protrusion；
Return springs are connected between the locating piece of the movable latch and the mounting groove bottom for throwing load mounting base；
Cam is rotatably installed in the throwing load mounting base and surface is abutted with described movable latch one end, the hydraulic-driven
The power output end locking cam shaft of unit.
2. the separation type hydraulic jettison system triggered as described in claim 1 by depth, which is characterized in that the throwing carries installation
Disengagement chamber is equipped between seat and the main body connector, the connection bump is to form at least partly side wall of disengagement chamber, described
At least partly side wall is equipped with inlet opening, and the movable latch is inserted into hermetic separation chamber in the inlet opening.
3. the separation type hydraulic jettison system triggered as claimed in claim 2 by depth, which is characterized in that the disengagement chamber packet
It includes：
First parting surface, the one side of the main body connector；
First annular surrounding edge, first parting surface are thrown to carry and be extended to form to detaching direction；
Second parting surface, described throw carry the mounting base one side opposite with first parting surface, and the throwing carries mounting base and institute
It is mating to state first annular surrounding edge.
4. the separation type hydraulic jettison system triggered as claimed in claim 3 by depth, which is characterized in that described first annular
Surrounding edge and the plug surface thrown between carrying mounting base are inclined outwardly.
5. the separation type hydraulic jettison system triggered as claimed in claim 4 by depth, which is characterized in that described first annular
It is 5 °~10 ° that surrounding edge and throwing, which carry the angle that the plug surface between mounting base is inclined outwardly,.
6. the separation type hydraulic jettison system triggered by depth as described in Claims 1 to 5 any claim, feature exist
In the liquid pressure-sensitive unit further includes being equipped with through-hole, institute with the radome fairing for throwing and carrying mounting base and connecting, the radome fairing
Liquid pressure-sensitive unit is stated in the radome fairing.
7. the separation type hydraulic jettison system triggered by depth as described in Claims 1 to 5 any claim, feature exist
In the hydraulic drive unit further includes：
Fixed seat is mounted on the throwing and carries in mounting base；
Elastic component is connected between the fixed seat and the power output end；
Flexible adjustment part, the elastic force for adjusting the elastic component.
8. the separation type hydraulic jettison system triggered as claimed in claim 7 by depth, which is characterized in that the elastic component is
Pressure spring, the flexible adjustment part are the adjusting bolt in the fixed seat.
9. the separation type hydraulic jettison system triggered by depth as described in Claims 1 to 5 any claim, feature exist
In the hydraulic-driven chamber is equipped with differential pressure circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710349486.3A CN107054594B (en) | 2017-05-17 | 2017-05-17 | A kind of separation type hydraulic jettison system triggered by depth |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710349486.3A CN107054594B (en) | 2017-05-17 | 2017-05-17 | A kind of separation type hydraulic jettison system triggered by depth |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107054594A CN107054594A (en) | 2017-08-18 |
| CN107054594B true CN107054594B (en) | 2018-10-19 |
Family
ID=59610309
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710349486.3A Expired - Fee Related CN107054594B (en) | 2017-05-17 | 2017-05-17 | A kind of separation type hydraulic jettison system triggered by depth |
Country Status (1)
| Country | Link |
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| CN (1) | CN107054594B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108177749B (en) * | 2018-02-11 | 2023-09-05 | 烟台宏远氧业股份有限公司 | Deep diving device |
| CN108533808B (en) * | 2018-06-15 | 2019-12-31 | 中国海洋大学 | Mechanical triggering method based on differential pressure driving |
| CN109665108B (en) * | 2019-02-13 | 2023-08-15 | 中国工程物理研究院总体工程研究所 | Automatic falling device for water-entering parachute of air-drop aircraft |
| CN111824324B (en) * | 2020-06-16 | 2021-11-16 | 天津大学 | Super vacuole underwater vehicle detachable bow structure |
| CN113148084B (en) * | 2021-05-31 | 2022-04-12 | 中国船舶科学研究中心 | Blasting sheet type emergency floating device and installation method thereof |
| CN113775668B (en) * | 2021-09-01 | 2022-09-27 | 浙江东溟科技有限公司 | Deepwater pressure control separator |
| CN113978673B (en) * | 2021-12-02 | 2022-09-23 | 中国船舶科学研究中心 | Floating walking dual-mode manned submersible and using method thereof |
| CN115303456B (en) * | 2022-10-11 | 2023-02-24 | 山东省科学院海洋仪器仪表研究所 | Reverse-pushing type emergency load rejection device for underwater vehicle |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6670735B2 (en) * | 2001-12-12 | 2003-12-30 | Chung-Shan Institute Of Science And Technology | Weight release mechanism for underwater object |
| CN101462585B (en) * | 2009-01-09 | 2010-12-01 | 哈尔滨工程大学 | Underwater fixed depth releasing device |
| CN102897302B (en) * | 2012-10-22 | 2014-12-17 | 哈尔滨工程大学 | Underwater mechanical separating mechanism |
| CN103253361B (en) * | 2013-06-03 | 2015-12-09 | 浙江大学 | For the sequence release gear at deep-sea |
| CN103935490B (en) * | 2014-04-28 | 2016-04-20 | 哈尔滨工程大学 | Safe valve type underwater fixed depth releasing device |
| CN106143840A (en) * | 2015-03-12 | 2016-11-23 | 常熟海量声学设备科技有限公司 | A kind of underwater robot ultra-deep ballast automatic releasing device |
| CN104908911B (en) * | 2015-06-02 | 2017-08-04 | 哈尔滨工程大学 | A kind of underground releaser with two kinds of triggering patterns of purely mechanic timing and depthkeeping |
| CN106379503A (en) * | 2016-09-19 | 2017-02-08 | 浙江大学 | Automatic load rejecting mechanism of deep-sea sampler |
| CN106314734B (en) * | 2016-10-28 | 2018-04-17 | 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） | Deep-sea self-inducting Emergency Device mechanism |
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2017
- 2017-05-17 CN CN201710349486.3A patent/CN107054594B/en not_active Expired - Fee Related
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| CN107054594A (en) | 2017-08-18 |
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Granted publication date: 20181019 |