CN109895939A - Vault shell cabin self-saving manned underwater vehicle - Google Patents
Vault shell cabin self-saving manned underwater vehicle Download PDFInfo
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- CN109895939A CN109895939A CN201811530206.XA CN201811530206A CN109895939A CN 109895939 A CN109895939 A CN 109895939A CN 201811530206 A CN201811530206 A CN 201811530206A CN 109895939 A CN109895939 A CN 109895939A
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Abstract
The invention discloses a kind of vault shell cabin self-saving manned underwater vehicles, characterized by comprising: submersible main hull: including stem, abdomen and tail portion, tail portion is provided with the first extended structure part and the second extended structure part；Vault shell mould glass cabin: abdominal region, including groove and glass top cover are set to；Multiple vault shells cabin sucker: it is positioned apart from in groove；Multiple propellers: the end including being divided into submersible main hull stem, abdomen two sides and the first extended structure part and the second extended structure part, each propeller are respectively connected with and rotor driver；Radome fairing: it is provided with a radome fairing grid；The fin wing；And searchlight；Propeller, spinner is corresponding with spinner grating position and quantity is consistent；Power supply, oxygen system, location facilities, radar system, operating system, host engine and the air compression system of electrical connection are provided in submersible main hull.It can realize self-rescue function when unsafe condition occurs.
Description
Technical field
The present invention relates to a kind of vault shell cabin self-saving manned underwater vehicles.
Background technique
Ball surface product more than 70 percent is taken up an area in ocean, and marine resources are ground up for development and exploration, existing application Yu Haiyang
Study carefully seldom with the submersible explored, is substantially km grade submersible, is divided to manned underwater vehicle and two kinds of unmanned submersible, above-mentioned two
The dive technology of kind of submersible application mainly includes load ballast water cooperation powered, float equally using emptying ballast tank with
The mode that powered combines.
There are many functions of submersible, wherein be applied to the water surface amusement aircraft mainstream be still small-sized speedboat, yacht,
The navigation unit by water of assault boat etc, and be still at home a piece of sky for the exploitation of underwater recreation facility with international market
It is white.The main underwater recreation facility of beach recreation area such as dive under water class activity still for one bear submersible diving, pass through
Human body is directly by the pressure of the depth of water, but this kind of mode directly limits the depth and speed of diving.
When navigating by water under water, some basic living guarantee systems are installed in cabin by conventional, such as install oxygen
Respiratory system, electric supply system, power supply are divided to positive and negative brush joint to realize that positive and negative two connect, to realize the rotating forward of propeller and anti-
Turn, to reconcile the movement that submersible realizes different directions, as tail undercarriage carries out positive vehicle and reverse motion.In manned underwater vehicle
Personnel safety Important Problems when field is inevitably dangerous have to be solved.
Summary of the invention
The technical problem to be solved in the present invention is to provide one kind to realize the vault of self-rescue function when unsafe condition occurs
Shell cabin self-saving manned underwater vehicle.
In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions:
To solve the above problems, the invention proposes a kind of vault shell cabin self-saving manned underwater vehicles, comprising:
In the submersible main hull of fish body structure: the submersible main hull include the stem of adult fish mouth structure, abdomen and
Tail portion, the tail portion are provided with the first extended structure part and the second extended structure part for being in the form of a column structure；
The vault shell mould glass cabin of submersible main hull can be detached from when facing a danger situation: the vault shell mould glass cabin is set
It is placed in the abdominal region of submersible main hull comprising groove and the glass top cover in ridge structure being set to above groove,
The two is formed with the space for accommodating people；
Multiple vault shells cabin sucker: vault shell cabin sucker compartment of terrain is arranged in the groove surface；
Multiple propellers: the multiple propeller is divided into submersible main hull stem, abdomen two sides and the first extension knot
The end of component and the second extended structure part, each propeller in the multiple propeller are respectively connected with for driving propeller
The rotor driver of rotation, the rotor driver are electrically connected with cabin interior power；
Multiple radome fairings around propeller setting: the top of the radome fairing is provided with one for avoiding the sundries that swims
Fall into radome fairing grid therein；
The fin wing: the fin wing includes for reducing the side fin wing that submersible waves and for changing the tail in submersible course
Portion's fin wing；And
Multiple searchlights for being respectively arranged at radome fairing and main hull stem；
Wherein, the propeller, spinner and spinner grating position are corresponding and quantity is consistent；It is described
Power supply, oxygen system, location facilities, radar system, operating system and the use of electrical connection are provided in submersible main hull
In providing the air compression system that differential air enables vault shell cabin sucker that groove inner surface is sucked for vault shell mould glass cabin.
As further improvement of the invention: the quantity in the vault shell mould glass cabin is one；Vault shell cabin sucker
Quantity is three；The quantity of the propeller is seven；The quantity of the spinner is seven, the propeller rectifies
The quantity of cover grid is seven；The quantity of the searchlight is nine.
As further improvement of the invention: one side position of stem of the submersible main hull is provided with a radome fairing,
Its abdomen two sides is respectively set there are two radome fairing, and the end of the first extended structure part and the second extended structure part is set respectively
It is equipped with a radome fairing.
As further improvement of the invention: the first extended structure part and the second extended structure part pass through a connecting rod
It is connect with a radome fairing.
As further improvement of the invention: the stem upper end of the submersible main hull is provided with a searchlight, described
2 searchlights are provided on each radome fairing of the radome fairing of abdomen two sides.
As further improvement of the invention: three vault shells cabin sucker compartment of terrain is set to the front end and rear end of groove
Position, and the vault shell cabin sucker for being located at rear end is in arc structure.
As further improvement of the invention: the first extended structure part and the second extended structure part, the main ship of submersible
Body and radome fairing positioned at submersible main hull two sides are integrated.
As further improvement of the invention: the first extended structure part and the second extended structure part for being in the form of a column structure
It is parallel to each other and the two bottom is in same level.
As further improvement of the invention: the quantity of the side fin wing is two, is respectively arranged at vault shell mould glass
Two side positions in glass cabin；The quantity of the tail portion fin wing is two, is set to respectively towards the direction that vault shell mould glass cabin is swelled
The tail position of submersible main hull.
Compared with prior art, a kind of vault shell cabin provided by the invention self-saving manned underwater vehicle is anticipated with following Patent Law
Justice the utility model has the advantages that
1, dive can flexibly being realized in shallow water area and being floated, being used cooperatively by different propellers efficiently to control
Movement of the submersible processed in six-freedom degree.
2, the present invention uses full impregnated Ming Dynasty style eggshell type pressure resistance glass in cockpit top layer, under submersible accent light searchlighting,
The visual angle of non-blind area, the experience sense that enhancing visit property is gone sightseeing may be implemented.
3, submersible of the present invention is not only suitable for underwater navigation and is also suitable for surface navigation, can reach waterborne, underwater two kinds not
Same Experience value.
4, the air compression system for controlling vault shell cabin sucker has electronic starting and manually boots two kinds of operating systems.Have
In the case that power-supply system whether normal operation can carry out vault shell cabin removing escape.
5, this vault shell cabin self-saving is loaded into submersible can make vault shell cabin quickly remove main hull, simple and direct using vault shell cabin sucker
It operatively realizes the function that floats of saving oneself, ensures driver's life security.
6, the invention realizes dive by adding ballast water to combine with propeller promotion and floats, and makes amusement phytal zone
Domain diving becomes popularity amusement facility.
7, vault shell of the present invention cabin self-saving manned underwater vehicle has self-rescue system, is inhaled using air compressor braking vault shell cabin
Disk realize absorption, two kinds operation air compressor it is electronic, manually boot system complete vault shell cabin removing escape.It all has very strong
Application value and market prospects.
Detailed description of the invention
A kind of Fig. 1 are as follows: the overall structure diagram of vault shell cabin provided by the invention self-saving manned underwater vehicle.
A kind of Fig. 2 are as follows: the top view of vault shell cabin provided by the invention self-saving manned underwater vehicle.
A kind of Fig. 3 are as follows: the side view of vault shell cabin provided by the invention self-saving manned underwater vehicle.
A kind of Fig. 4 are as follows: the tail view of vault shell cabin provided by the invention self-saving manned underwater vehicle.
Fig. 5 are as follows: the propeller and rotor driver of a kind of vault shell cabin provided by the invention self-saving manned underwater vehicle assemble
Figure.
Fig. 6 are as follows: the vault shell cabin sucker and the main ship of submersible of a kind of vault shell cabin provided by the invention self-saving manned underwater vehicle
Body position relational structure schematic diagram.
Fig. 7 are as follows: a kind of vault shell mould glass cabin of vault shell cabin provided by the invention self-saving manned underwater vehicle and submersible master
Hull detaching structure schematic diagram.
Fig. 8 are as follows: a kind of cruise of vault shell cabin provided by the invention self-saving manned underwater vehicle dive, floats, flees from state
Flow chart.
Specific embodiment
A kind of vault shell cabin provided by the invention self-saving manned underwater vehicle is done further more below by way of specific embodiment
Detailed description:
Embodiment 1
The vault shell cabin self-saving manned underwater vehicle of the present embodiment, comprising:
In the submersible main hull of fish body structure: the submersible main hull include the stem of adult fish mouth structure, abdomen and
Tail portion, the tail portion are provided with the first extended structure part and the second extended structure part for being in the form of a column structure；
The vault shell mould glass cabin of submersible main hull can be detached from when facing a danger situation: the vault shell mould glass cabin is set
It is placed in the abdominal region of submersible main hull comprising groove and the glass top cover in ridge structure being set to above groove,
The two is formed with the space for accommodating people；
Multiple vault shells cabin sucker: vault shell cabin sucker compartment of terrain is arranged in the groove surface；
Multiple propellers: the multiple propeller is divided into submersible main hull stem, abdomen two sides and the first extension knot
The end of component and the second extended structure part, each propeller in the multiple propeller are respectively connected with for driving propeller
The rotor driver of rotation, the rotor driver are electrically connected with cabin interior power；
Multiple radome fairings around propeller setting: the top of the radome fairing is provided with one for avoiding the sundries that swims
Fall into radome fairing grid therein；
The fin wing: the fin wing includes for reducing the side fin wing that submersible waves and for changing the tail in submersible course
Portion's fin wing；And
Multiple searchlights for being respectively arranged at radome fairing and main hull stem；
Wherein, the propeller, spinner and spinner grating position are corresponding and quantity is consistent；It is described
Power supply, oxygen system, location facilities, radar system, operating system and the use of electrical connection are provided in submersible main hull
In providing the air compression system that differential air enables vault shell cabin sucker that groove inner surface is sucked for vault shell mould glass cabin.
One side position of stem of the submersible main hull is provided with a radome fairing, there are two abdomen two sides are respectively set
The end of radome fairing, the first extended structure part and the second extended structure part is respectively arranged with a radome fairing.
The first extended structure part and the second extended structure part pass through a connecting rod and connect with a radome fairing.
The stem upper end of the submersible main hull is provided with a searchlight, the radome fairing of the abdomen two sides it is each whole
2 searchlights are provided on stream cover.
Three vault shells cabin sucker compartment of terrain is set to front end and the back-end location of groove, and is located at the vault shell cabin of rear end
Sucker is in arc structure.
The first extended structure part and the second extended structure part, submersible main hull and it is located at submersible main hull two sides
Radome fairing be integrated.
The first extended structure part for being in the form of a column structure and the second extended structure part is parallel to each other and the two bottom is same
One horizontal plane.
The quantity of the side fin wing is two, is respectively arranged at two side positions in vault shell mould glass cabin；The tail portion
The quantity of the fin wing is two, is set to the tail position of submersible main hull towards the direction that vault shell mould glass cabin is swelled respectively.
It please refers to shown in Fig. 1-8, the vault shell cabin self-saving manned underwater vehicle of the present embodiment is by main hull, vault shell mould pressure resistance glass
Glass cabin, vault shell cabin sucker, propeller, radome fairing, radome fairing grid, the fin wing, searchlight composition.It is resistance to specifically include a vault shell mould
Press glass cabin, three vault shell cabin suckers, seven propellers, seven spinners, seven spinner grids, two
The side fin wing, two stern fin wings, nine searchlight compositions.
Submersible be equipped in cabin oxygen system, location facilities, radar system, operating system, host engine and
Air compression system, above-mentioned several equipment are directly to buy acquisition from the market, pass through electrical connection between equipment.First
Beginning diving stations open ballast tank inlet valve, and directly purchase obtains inlet valve from the market, load water is carried out, when diving is thought highly of
When power is equal to buoyancy, submersible is in suspended state, by opening topside propeller, realizes submersible dive, opens simultaneously stern
Portion's propelling screws carry out underwater cruising condition, and the intelligent barrier avoiding under the assistance by radar and searchlight is opened stem side and pushed away
Propeller carries out left and right and quickly changes navigation direction.
If attached drawing 1-4 has rotor driver H in the front of each propeller G, rotor driving is connected by cabin interior power
Device realizes the rotation of propeller.It is mounted on radome fairing grid D in the front of radome fairing B, the sundries sawdust sucking that avoids swimming is whole
In stream cover.It is shaken by the side fin wing to subtract, the tail portion fin wing is braked to change course.Side Thrusters propeller G is installed in stem1, spiral shell
Revolve paddle G1Rotor driver H is connected, radome fairing grid D is installed in portion in front of the drivers7；Side Thrusters propeller is installed in right front
G2, propeller G2Rotor driver H is connected, radome fairing grid D is installed in portion in front of the drivers1, outside installation spinner
B3；Side Thrusters propeller G is installed in left side front3, propeller G3Rotor driver H is connected, radome fairing is installed in portion in front of the drivers
Grid D2, outside installation spinner B4；Side Thrusters propeller G is installed in right side tail portion4, propeller G4Rotor is connected to drive
Dynamic device H, radome fairing grid D is installed in portion in front of the drivers3, outside installation spinner B1；Side Thrusters is installed in left side tail portion
Propeller G5, propeller G5Rotor driver H is connected, radome fairing grid D is installed in portion in front of the drivers4, it is whole that propeller is installed in outside
Stream cover B2；Side Thrusters propeller G is installed on the right side of tail portion7, propeller G7Rotor driver H is connected, portion's installation is whole in front of the drivers
Flow cover grid D5, outside installation spinner A2；Side Thrusters propeller G is installed on the left of tail portion6, propeller G6Connection turns
Sub- driver H, radome fairing grid D is installed in portion in front of the drivers6, outside installation spinner A1；What is be connected with main hull is
Vault shell mould glass cabin F1；Three vault shell cabin sucker I are installed below in vault shell glass cabin, vault shell cabin sucker I is installed on the right side of stem2；It is first
Vault shell cabin sucker I is installed on the left of portion1；Vault shell cabin sucker I is installed tail portion3；Searchlight E is installed in stem1；It is rectified in right side stem
It covers front end and searchlight E is installed2, searchlight E is installed in radome fairing side4；Searchlight E is installed in left side stem radome fairing front end3, whole
Searchlight E is installed stream cover side5；Searchlight E is installed in right side tail portion radome fairing rear end8, searchlight E is installed in radome fairing side6；
Searchlight E is installed in left side tail portion radome fairing rear end9, searchlight E is installed in radome fairing side7；Fin wing C is installed right side1；Left side
Fin wing C is installed in portion2；Fin wing C is installed tail portion right side3；Fin wing C is installed tail portion left side4。
Specific structure size such as attached drawing 5-8.When propeller is installed in tail portion, directly by host, host refers to rotor driver
It is replaced using engine device powered by conventional energy, is different from first, side rotor driver.It is driven by powerful host, to realize
Main impetus.First, side determines the particularity of its rotor drive location since propeller is parallel to horizontal plane, just another to add
Rotor driver H drives rotor driver in front side, by powering on, and then drives propeller G rotation, to realize submersible
Movement.
Vault shell mould glass cabin sucker is installed below in vault shell mould glass cabin, provides enough skies by air compression system in cabin
Gas is poor, so that sucker is firmly adsorbed vault shell cabin, vault shell cabin is mainly operated by route with main hull, in order to guarantee
Removing, and the leakproofness in order to guarantee vault shell cabin junction interface is rapidly completed in precarious position, vault shell cabin and main hull, is connecting
Place only by power supply insert keyed connection, carry out be detached from escape when connection power supply insert key can under the pullling of power delamination,
It could complete also to can guarantee the life security of the watertightness guarantee driver in vault shell cabin after being detached from this way entirely without dockingundocking,
Gap location between vault shell mould glass cabin and submersible main hull can add rubber washer appropriate, to guarantee that sucker suction is made
Sealing performance.
Submersible carries out surface navigation and dive operation under normal circumstances, similar when danger occurs to sink to the bottom, collide, floating
When failure, power-fail, vault shell cabin sucker system can be operated, make its Fast-Balance differential air, remove main hull, utilize itself
Cabin buoyancy is very fast to float to the water surface.Vault shell cabin sucker system makes air pressure reach equilibrium state, vault shell by release valve
Cabin is just no longer influenced by the adsorption capacity of sucker, completes removing.Vault shell cabin and main hull gross weight full of air can be with when being greater than buoyancy
Realize dive, its buoyancy of vault shell cabin after removing full of air is much larger than self gravity, and very fast floating realizes escape.Sending is asked
Signal is rescued to wait for rescue.
When submersible preparation work, driver enters vault shell mould glass cabin cockpit first, whether checks power supply capacity
Whether abundance and oxygen respiratory system are normal, and whether air compression system is normal, can be made after all inspections
Industry.
Driver turns on the power switch, and connects tail rotor driver H and drives G6、G7The rotation of tail portion left-and-right spiral paddle, provides
Propulsion system, and bow thruster propeller G is driven by stem rotor driver H1Rotation adjustment left and right course, sails out of pool
Ship harbour；Load ballast Shui system is opened when reaching diving region, carry out ballast tank adds water operation, and submersible submerges waterline
Below face.It opens simultaneously searchlight E and carries out underwater lighting, collaboration rotor driver H drives left and right side front and rear portions propeller G2、
G3、G4、G5Carry out dive；Left and right lateral fin wing C is just being met simultaneously1、C2Carry out dive；G is closed after dive to certain depth2、G3、G4、
G5Propeller closes left and right lateral fin wing C1、C2Power supply connection, makes its fin wing be parallel to horizontal plane, to guarantee that aircraft is parallel to
Water Plane navigation.According to the unlatching for needing to carry out different parts searchlight E of navigation, to reach different operative goals.
When submersible encounter collision, sink to the bottom, float failure, power-fail when cannot normally complete floating operation.It is this
Situation can make underwater living environment face threat, and air compression system has two kinds of startup functions, i.e. electric operating and hand at this time
Dynamic operation can meet starting air compression system, to weaken differential air, realize that vault shell mould glass cabin and submersible main hull are shelled
From floating.If power supply keeps normal function when dangerous situation occurs, air compression system is started with regard to a key operation, reduces air
Difference, when differential air reaches critical value, buoyancy caused by the sealed volume of vault shell mould glass cabin itself is inhaled greater than vault shell cabin sucker
When attached power, i.e., floats rapidly and complete to flee from operation, vault shell mould glass cabin sucker position.When facing a danger at power-supply system
When failure state, air compression system cannot be started by electric operating, can be operated, be arranged by manual draw bar at this time
Escape operation is completed in pneumatics contracting gas balance differential air, the removing of vault shell mould glass cabin, and the main ship of submersible is removed in vault shell mould glass cabin
Body completes escape and floats.
When submersible does not face a danger under water, after completing underwater navigation operation, so that it may which floating operates.
Ballast water is emptied at this time, maintains G6、G7The rotation of tail portion left-and-right spiral paddle, endlessly provides thrust.It floats not and extremely has at this time
Standby ornamental value and the property investigated can only retain stem searchlight E and connect, save electric power purpose to reach.It floats and navigates by water
Lower reversal connection rotor driver H makes topside propeller G2、G3、G4、G5Reversion, realizes the purpose of floating.Side of a ship lateral fin wing reversal connection simultaneously turns
Sub- driver H drives fin wing C1、C2, make it that wave navigation be pressed to realize and float.
Submersible still maintains G when reaching Water Plane6、G7The rotation of tail portion left-and-right spiral paddle；Closing rotor driver H makes the side of a ship
Side propeller G2、G3、G4、G5It stops operating；Fin wing C1、C2、C3、C4It playbacks to initial conditions；Searchlight E is closed, completes to make a return voyage.
In addition, the glass in vault shell mould glass cabin is quartz glass.
It should be appreciated that the purposes of these embodiments is merely to illustrate the present invention and is not intended to limit protection model of the invention
It encloses.In addition, it should also be understood that, after reading the technical contents of the present invention, those skilled in the art can make the present invention each
Kind change, modification and/or variation, all these equivalent forms equally fall within guarantor defined by the application the appended claims
Within the scope of shield.
As known by the technical knowledge, the present invention can pass through the embodiment party of other essence without departing from its spirit or essential feature
Case is realized.Therefore, embodiment disclosed above, in all respects are merely illustrative, not the only.Institute
Have within the scope of the present invention or is included in the invention in the change being equal in the scope of the present invention.
Claims (9)
1. vault shell cabin self-saving manned underwater vehicle, characterized by comprising:
In the submersible main hull of fish body structure: the submersible main hull includes stem, abdomen and the tail portion of adult fish mouth structure,
The tail portion is provided with the first extended structure part and the second extended structure part for being in the form of a column structure；
The vault shell mould glass cabin of submersible main hull can be detached from when facing a danger situation: the vault shell mould glass cabin is set to
The abdominal region of submersible main hull comprising groove and the glass top cover in ridge structure being set to above groove, the two
It is formed with the space for accommodating people；
Multiple vault shells cabin sucker: vault shell cabin sucker compartment of terrain is arranged in the groove surface；
Multiple propellers: the multiple propeller is divided into submersible main hull stem, abdomen two sides and the first extended structure part
With the end of the second extended structure part, each propeller in the multiple propeller is respectively connected with for driving propeller rotational
Rotor driver, the rotor driver is electrically connected with cabin interior power；
Multiple radome fairings around propeller setting: the top of the radome fairing is provided with one and falls into for the sundries that avoids swimming
Radome fairing grid therein；
The fin wing: the fin wing includes for reducing the side fin wing that submersible waves and for changing the tail portion fin in submersible course
The wing；And
Multiple searchlights for being respectively arranged at radome fairing and main hull stem；
Wherein, the propeller, spinner and spinner grating position are corresponding and quantity is consistent；The diving
Be provided in device main hull the power supply of electrical connection, oxygen system, location facilities, radar system, operating system and for for
Vault shell mould glass cabin provides the air compression system that differential air enables vault shell cabin sucker that groove inner surface is sucked.
2. vault shell according to claim 1 cabin self-saving manned underwater vehicle, it is characterised in that: the vault shell mould glass cabin
Quantity is one；The quantity of vault shell cabin sucker is three；The quantity of the propeller is seven；The spinner
Quantity be seven, the quantity of the spinner grid is seven；The quantity of the searchlight is nine.
3. vault shell according to claim 1 cabin self-saving manned underwater vehicle, it is characterised in that: the submersible main hull
One side position of stem is provided with a radome fairing, and abdomen two sides are respectively set that there are two radome fairing, the first extended structure parts
A radome fairing is respectively arranged with the end of the second extended structure part.
4. vault shell according to claim 3 cabin self-saving manned underwater vehicle, it is characterised in that: the first extended structure part
Pass through a connecting rod with the second extended structure part to connect with a radome fairing.
5. vault shell according to claim 1 cabin self-saving manned underwater vehicle, it is characterised in that: the submersible main hull
Stem upper end is provided with a searchlight, and 2 searchlights are provided on each radome fairing of the radome fairing of the abdomen two sides.
6. vault shell according to claim 2 cabin self-saving manned underwater vehicle, it is characterised in that: three vault shells cabin sucker
The vault shell cabin sucker for being positioned apart from the front end in groove and back-end location, and being located at rear end is in arc structure.
7. vault shell according to claim 1 cabin self-saving manned underwater vehicle, it is characterised in that: the first extended structure part
It is integrated with the second extended structure part, submersible main hull and radome fairing positioned at submersible main hull two sides.
8. the vault shell cabin self-saving manned underwater vehicle according to claim 4 or 7, it is characterised in that: described to be in the form of a column structure
The first extended structure part and the second extended structure part is parallel to each other and the two bottom is in same level.
9. vault shell according to claim 1 cabin self-saving manned underwater vehicle, it is characterised in that: the quantity of the side fin wing
It is two, is respectively arranged at two side positions in vault shell mould glass cabin；The quantity of the tail portion fin wing is two, respectively towards vault
The direction of shell mould glass cabin protuberance is set to the tail position of submersible main hull.
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| CN201811530206.XA CN109895939A (en) | 2018-12-14 | 2018-12-14 | Vault shell cabin self-saving manned underwater vehicle |
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| CN201811530206.XA CN109895939A (en) | 2018-12-14 | 2018-12-14 | Vault shell cabin self-saving manned underwater vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113148068A (en) * | 2021-04-30 | 2021-07-23 | 上海海洋大学 | Auxiliary rescue aircraft on water |
| CN113581389A (en) * | 2021-09-08 | 2021-11-02 | 大连海事大学 | Submerged floating unmanned ship and operation method thereof |
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Application publication date: 20190618 |