CN207336486U - A kind of subsea hydraulic perforation device - Google Patents
A kind of subsea hydraulic perforation device Download PDFInfo
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- CN207336486U CN207336486U CN201721341777.XU CN201721341777U CN207336486U CN 207336486 U CN207336486 U CN 207336486U CN 201721341777 U CN201721341777 U CN 201721341777U CN 207336486 U CN207336486 U CN 207336486U
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Abstract
The utility model discloses a kind of subsea hydraulic perforation device, and perforation device includes support frame, the hoistable platform being slidably connected with support frame, the holding platform being fixedly connected with support frame and at least one feeler lever；Feeler lever is slidably connected with hoistable platform, and corresponding each feeler lever can clamp in setting clamping device on hoistable platform or unclamp feeler lever；With keeping platform to be slidably connected, corresponding each feeler lever can clamp in setting holding mechanism on holding platform or unclamp feeler lever feeler lever.Perforation device can measure seabed deep layer feeler lever continuous several times injection, the depth of penetration of feeler lever from the limitation of hoistable platform stroke；If deposit it is soft can more feeler levers of injection at the same time, if deposit densification can more feeler levers of injection successively, not only realize more feeler levers to being measured while the multiple parameters of seabed, detection efficient is high, and depth of penetration is big, and measurement parameter has the researching value of bigger.
Description
Technical field
It the utility model is related to Marine Geology field of detecting, more particularly to a kind of subsea hydraulic perforation device.
Background technology
With the growing of marine survey technology, for marine bottom research object gradually from sea water layer to sea-bottom deposit
Thing in-house development, probes into bottom sediment items physico-mechanical properties parameter as research hotspot at this stage.It is at present to pass through more
By the technology detecting parameter in the feeler lever injection to deposit for installing sensing probe, feeler lever is related to static sounding feeler lever, hole
Water pressure feeler lever, acoustic characteristic measurement feeler lever, resistivity measurement feeler lever etc., used injection mode is filled using hydraulic drive more
Put carry out injection.
In the existing device using the detection of hydraulic pressure penetration type feeler lever, the moveable platen in perforation device is fixed with feeler lever to be connected
Connect, by the movement of moveable platen, drive feeler lever injection, such perforation device can only carry out same root feeler lever in the same time
Injection, detecting parameter is single, and the parameter index of diversification can not be provided for ocean engineering；Because what perforation device was capable of providing passes through
Enter that power is limited, for harder seabottom geology, if more feeler levers of injection at the same time then fragile perforation device；In addition, feeler lever
Depth of penetration is consistent with the stroke of moveable platen, and the depth of penetration of feeler lever, can not be deep to seabed by the travel limit of moveable platen
Layer measures, and influences further to study.
Utility model content
The purpose of this utility model is to provide a kind of subsea hydraulic perforation device, to solve spy existing in the prior art
The technical problem that bar injection quantity is few, detecting parameter is single and feeler lever depth of penetration is small.
As above conceive, technical solution is used by the utility model：
A kind of subsea hydraulic perforation device, including support frame, be slidably connected with the support frame hoistable platform, with
The holding platform and at least one feeler lever that the support frame is fixedly connected；
The feeler lever is slidably connected with the hoistable platform, and corresponding each feeler lever is in setting folder on the hoistable platform
Mechanism is held, can clamp or unclamp the feeler lever；
The feeler lever is slidably connected with the holding platform, and corresponding each feeler lever is protected in setting on the holding platform
Mechanism is held, can clamp or unclamp the feeler lever.
Wherein, the clamping device is identical with the structure of the holding mechanism, and the clamping device includes：
Clamping jaw, two clamping jaws are located at the feeler lever both sides respectively；
Clamping cylinder, the clamping cylinder is corresponded with the clamping jaw and set, for driving the jaw action.
Wherein, one end of the clamping jaw is connected with the clamping cylinder, and the other end of the clamping jaw and the feeler lever are optional
Contact is selected, the clamping jaw is close to the arcwall face that the surface of the feeler lever is with feeler lever cooperation.
Wherein, driving mechanism is further included, for driving the hoistable platform to move, the driving mechanism includes injection oil cylinder
The pulley assembly being connected with the injection oil cylinder, the pulley assembly are connected with the hoistable platform.
Wherein, the pulley assembly includes：
Top sheave component, it includes movable pulley and three upper fixed pulleys, one end of the first wirerope and the hoistable platform
It is fixedly connected, the other end of the first wirerope bypasses two upper fixed pulleys, upper movable pulley and a upper fixed pulley successively
After fix；
Downslide wheel assembly, it is symmetrical arranged with the top sheave component, and the downslide wheel assembly includes lower movable pulley and three
A lower fixed pulley, one end of the second wirerope are fixedly connected with the hoistable platform, and the other end of the second wirerope bypasses two successively
It is fixed after the lower fixed pulley, lower movable pulley and a lower fixed pulley.
Wherein, the pulley assembly is fixed in the support frame by pulley bracket, the upper movable pulley and described
Lower movable pulley is mounted on moving pulley bracket, and the moving pulley bracket is slidably connected with the pulley bracket, the injection oil
The output terminal of cylinder is connected with the moving pulley bracket.
Wherein, the pulley assembly has two groups, the spaced and parallel setting of pulley assembly described in two groups, two upper movable pulleys
It is coaxially disposed.
Wherein, several guiding axis are provided with the support frame, the hoistable platform is slided with the guiding axis to be connected
Connect, the pilot hole for wearing the guiding axis is offered on the hoistable platform, guide sleeve is provided with the pilot hole.
Wherein, the support frame includes several supporting rods, and the bottom of the supporting rod is provided with anti-settling disk, described
Anti-settling disk is in bowl-shape, and the supporting rod is inserted into the anti-settling disk and is fixedly connected with the anti-settling disk.
The beneficial effects of the utility model：
The utility model proposes subsea hydraulic perforation device, including support frame, the liter that is slidably connected with support frame
Drop platform, the holding platform being fixedly connected with support frame and at least one feeler lever；Feeler lever is slidably connected with hoistable platform, corresponding
Each feeler lever can clamp in setting clamping device on hoistable platform or unclamp feeler lever；Feeler lever is right with keeping platform to be slidably connected
Each feeler lever is answered to clamp in setting holding mechanism on holding platform or unclamp feeler lever.During injection, hoistable platform is located at injection
Initial position, clamping device clamp, and holding mechanism unclamps, then hoistable platform downlink, drive feeler lever injection；When hoistable platform arrives
Up to single range, hoistable platform is clamped positioned at initial position, holding mechanism is extracted, and clamping device unclamps, on hoistable platform
Row returns to injection initial position, completes single injection；Repeat the above process, can by feeler lever continuous several times injection, such feeler lever
Depth of penetration can measure seabed deep layer from the limitation of hoistable platform stroke；When needing more feeler levers of injection, root
Determine injection mode according to bottom sediment condition, if deposit it is soft can more feeler levers of injection at the same time, if deposit densification can be according to
Secondary more feeler levers of injection, not only realize more feeler levers to being measured while the multiple parameters of seabed, and detection efficient is high, and injection
Depth is big, and measurement parameter has the researching value of bigger.
Brief description of the drawings
Fig. 1 is the structure diagram of subsea hydraulic perforation device provided by the utility model.
Fig. 2 is the part-structure schematic diagram of subsea hydraulic perforation device provided by the utility model；
Fig. 3 is the structure diagram of the hoistable platform and clamping device in Fig. 2；
Fig. 4 is the front view of the part-structure of subsea hydraulic perforation device provided by the utility model；
Fig. 5 is the side view of the part-structure of subsea hydraulic perforation device provided by the utility model.
In figure：
1st, support frame；2nd, hoistable platform；3rd, platform is kept；4th, feeler lever；5th, driving mechanism；6th, battery flat；
11st, supporting rod；12nd, connecting plate；13rd, anti-settling disk；14th, web plate；
21st, clamping device；22nd, guiding axis；23rd, pilot hole；24th, guide sleeve；25th, fixing sleeve；26th, flange；211st, clamping jaw；
212nd, clamping cylinder；
31st, holding mechanism；
51st, injection oil cylinder；52nd, top sheave component；53rd, downslide wheel assembly；54th, pulley bracket；55th, moving pulley bracket；
521st, upper movable pulley；522nd, upper fixed pulley；523rd, the first wirerope；531st, lower movable pulley；532nd, lower fixed pulley；533rd, the second steel
Cable.
Embodiment
Below in conjunction with the accompanying drawings the technical solution of the utility model is further illustrated with embodiment.It is understood that this
Locate described specific embodiment to be used only for explaining the utility model, rather than the restriction to the utility model.Further need exist for
Illustrate, for the ease of description, illustrate only in attached drawing with the relevant part of the utility model and it is not all.
Referring to Fig. 1 to Fig. 5, a kind of subsea hydraulic perforation device of the utility model embodiment offer, including support frame 1,
Hoistable platform 2, keep platform 3, feeler lever 4, driving mechanism 5, control system and battery flat 6, passes through clamping device 21, holding mechanism
31 clamping and release, coordinate hoistable platform 2 decline and rising, complete feeler lever 4 injection, on stir work.Injection is filled below
The all parts put describe in detail.
As depicted in figs. 1 and 2, support frame 1 is to the frame structure of fixed package unit all parts, is feeler lever 4
Injection provide support.Support frame 1 includes several supporting rods 11, and in the present embodiment, four supporting rods 11 are arranged at intervals
It is rectangular, connected between four supporting rods 11 by multiple connecting plates 12, connecting plate 12 divides support frame 1 for bottom, middle level
And upper strata.Web plate 14 is provided between two neighboring supporting rod 11, for protecting device.
Anti-settling disk 13 is provided with the bottom of supporting rod 11, anti-settling disk 13 is in bowl-shape, the insertion anti-settling of supporting rod 11
It is fixedly connected in disk 13 and with anti-settling disk 13.Anti-settling disk 13 adds the contact area of support frame 1 and sea level, ensures
The stability of whole device.In the present embodiment, support frame 1 is processed using the structure of steel product of high-strength corrosion-resisting, and size is
2.0 × 1.7 × 1.5m, conducts oneself with dignity for 1.5t.
Several guiding axis 22 are provided with support frame 1, provide guiding role for hoistable platform 2, hoistable platform 2 is with leading
It is slidably connected to axis 22.The pilot hole 23 for wearing guiding axis 22 is offered on hoistable platform 2, is provided with and leads in pilot hole 23
To set 24.The both ends of guiding axis 22 are fixedly connected by fixing sleeve 25 with support frame 1, and fixing sleeve 25 passes through flange 26 and support
Frame 1 is fixedly connected.Keep platform 3 to be fixedly connected with support frame 1, in the present embodiment, four are provided with perforation device
Feeler lever 4.
Feeler lever 4 is slidably connected with hoistable platform 2, and corresponding each feeler lever 4 is in setting clamping device 21, energy on hoistable platform 2
It is enough to clamp or unclamp feeler lever 4；With keeping platform 3 to be slidably connected, corresponding each feeler lever 4 is kept feeler lever 4 in setting on holding platform 3
Mechanism 31, can clamp or unclamp feeler lever 4.
One end of feeler lever 4 is connected with chain, and the other end of feeler lever 4 is provided with probe.The one end for being provided with probe passes through liter
Drop platform 2 and keep platform 3, chain is moved and is driven with feeler lever 4, spacing for being carried out to feeler lever 4.
With reference to figure 3 and with reference to shown in Fig. 2, clamping device 21 includes clamping jaw 211 and clamping cylinder 212, and two clamping jaws 211 divide
Not Wei Yu 4 both sides of feeler lever, clamping cylinder 212 and clamping jaw 211, which correspond, to be set, for driving clamping jaw 211 to move.Clamping jaw 211
One end be connected with clamping cylinder 212, the other end of clamping jaw 211 may be selected to contact with feeler lever 4, table of the clamping jaw 211 close to feeler lever 4
Face is the arcwall face coordinated with feeler lever 4.Two clamping jaws 211 move at the same time, for clamping or unclamping feeler lever 4.
In the present embodiment, clamping device 21 is identical with the structure of holding mechanism 31, because setting position different, therefore plays not
Same effect, when clamping device 21 clamps feeler lever 4, holding mechanism 31 unclamps feeler lever 4, hoistable platform 2 can drive feeler lever 4 to move
It is dynamic；When holding mechanism 31 clamps feeler lever 4, feeler lever 4 is fixed relative to support frame 1；When holding mechanism 31 clamps feeler lever 4, folder
When holding the release feeler lever 4 of mechanism 21, hoistable platform 2 can be slided relative to feeler lever 4.
With reference to shown in figure 4 and Fig. 5, driving mechanism 5 is used to drive hoistable platform 2 to move, and driving mechanism 5 includes injection oil cylinder
51 and the pulley assembly that is connected with injection oil cylinder 51, pulley assembly be connected with hoistable platform 2.Pulley assembly includes top sheave component
52 and downslide wheel assembly 53, pulley assembly be fixed on by pulley bracket 54 in support frame 1.
Top sheave component 52 includes upper movable pulley 521 and three upper fixed pulleys 522, one end of the first wirerope 523 and lifting
Platform 2 is fixedly connected, and the other end of the first wirerope 523 is successively around on two upper fixed pulleys 522, upper movable pulley 521 and one
It is fixed after fixed pulley 522；Downslide wheel assembly 53 is symmetrical arranged with top sheave component 52, and downslide wheel assembly 53 includes lower movable pulley
531 and three lower fixed pulleys 532, one end of the second wirerope 533 be fixedly connected with hoistable platform 2, the other end of the second wirerope 533
Fixed after bypassing two lower fixed pulleys 532, lower movable pulley 531 and a lower fixed pulley 532 successively.Upper movable pulley 521 and lower dynamic
Pulley 531 is mounted on moving pulley bracket 55, and moving pulley bracket 55 is slidably connected with pulley bracket 54, injection oil cylinder 51 it is defeated
Outlet is connected with moving pulley bracket 55.The stretching of hydraulic stem directly drives moving pulley bracket 55 with retract action in injection oil cylinder 51
Move up and down, drawing hoistable platform 2 by wirerope and other fixed pulleys moves up and down.
In the present embodiment, pulley assembly has two groups, and two groups of spaced and parallel settings of pulley assembly, two are gone up movable pulleys 521
It is coaxially disposed, ensures in the perforation device course of work, 2 stress balance of hoistable platform, improves stability.
Control system is used for the injection or extraction for controlling perforation device to carry out feeler lever 4, including hydraulic station and valve platform, hydraulic station
For sealed cylindrical type structure, external hydraulic pipeline joint, hydraulic power source is provided for whole system；Valve platform includes upper valve platform, lower valve platform,
Upper valve platform is connected with the clamping cylinder 212 of clamping device 21, clamping cylinder 212, the injection oil cylinder of lower valve platform and holding mechanism 31
51 connection, control fluid pressure line flow direction so that control clamping cylinder 212,51 oil inlet of injection oil cylinder with it is fuel-displaced.
Control system further includes control cabinet and driving cabin, and control cabinet and driving cabin are sealed cylindrical type structures, using height
The structure of steel product processing of strength corrosion resistant.Microcontroller is equipped with control cabinet, program singal can be controlled in advance by control program write-in
It is connected to the operation in driving cabin, further drive control perforation device.Alternatively, the connection of underwater acoustic communication machine is set in control cabinet
Serial ports, is connected using watertight communication cable with underwater acoustic communication machine, and the operation of underwater acoustic communication control perforation device, number can be carried out on sea
Realize that remote underwater acoustic communicates by underwater acoustic communication machine according to transmission, overcome the high research cost of communication cable and the complexity of operation
Property.
Lithium battery is provided with battery flat 6, patch cable by watertight is connected with miscellaneous part, and electricity consumption is provided for perforation device
Support.
Subsea hydraulic perforation device when in use, specifically includes following steps：
Before injection, perforation device is discharged to seabed, release in specified point position by boat-carrying geological winch using operation ship
Speed is adjustable to maximum, and speed is reduced when decentralization is to away from seabed 100m, it is slowly transferred.
After equipment bottoms out, device operation is controlled by pre-set control programs or by underwater acoustic communication machine.Control
System transfers hydraulic station work, and all holding mechanisms 31 are in clamped condition, and all clamping devices 21 are in releasing orientation, control
System judges the position of hoistable platform 2.If hoistable platform 2 is in injection initial position, system begins to injection action；If
Hoistable platform 2 deviates injection initial position, and control system sends instruction, and control hoistable platform 2 returns to injection initial position, starts
Injection acts.
The selected feeler lever 4 for intending injection, selects all feeler levers 4 or some of which feeler lever 4, and determines injection order, according to
Bottom sediment condition determines injection mode, if deposit it is soft can disposably whole injection, if deposit densification can pass through one by one
Enter.
Following steps are illustrated by taking four feeler levers 4 disposably whole injection as an example.
Step 1：Hoistable platform 2 is located at injection initial position, and clamping device 21 clamps, and holding mechanism 31 unclamps, and lifting is flat
2 downlink of platform, drives 4 injection of feeler lever；
Step 2：When hoistable platform 2 reaches single range, hoistable platform 2 is positioned at extraction initial position, holding mechanism
31 clamp, and clamping device 21 unclamps, and 2 uplink of hoistable platform returns to injection initial position, complete single injection；
Step 3：Repeat step 1 and step 2, by 4 continuous several times injection of feeler lever.
When needing to extract feeler lever 4, it is necessary to following steps：
Step 4：Hoistable platform 2 is clamped positioned at initial position, clamping device 21 is extracted, and holding mechanism 31 unclamps, and lifting is flat
2 uplink of platform, drives feeler lever 4 to extract；
Step 5：When hoistable platform 2 reaches single range, hoistable platform 2 is located at injection initial position, holding mechanism
31 clamp, and clamping device 21 unclamps, and 2 downlink of hoistable platform returns to extraction initial position, complete single and extract；
Step 6：Repeat step 4 and step 5,4 continuous several times of feeler lever are extracted.
In step 4, control system judges the position of hoistable platform 2, if hoistable platform 2, which is in, extracts initial position,
System begins to pull action；If hoistable platform 2, which deviates, extracts initial position, control system sends instruction, and control lifting is flat
Platform 2 returns to extraction initial position, starts pull action.
In the present embodiment, the injection of feeler lever 4 is completed in 1 meter of perforation device single maximum depth of penetration, continuous several times action.
The maximum depth of extracting of perforation device single is 1 meter, and the extraction of feeler lever 4 is completed in continuous several times action.
Above-mentioned perforation device can be by 4 continuous several times injection of feeler lever, and the depth of penetration of such feeler lever 4 is from 2 row of hoistable platform
The limitation of journey, can measure seabed deep layer；When needing more feeler levers 4 of injection, determined according to bottom sediment condition
Injection mode, if deposit it is soft can more feeler levers 4 of injection at the same time, if deposit densification can more feeler levers 4 of injection successively, not only
More feeler levers 4 are realized to being measured while the multiple parameters of seabed, detection efficient is high, and depth of penetration is big, measurement parameter tool
There is the researching value of bigger.
Embodiment of above is to elaborate the basic principle and characteristic of the utility model, and the utility model is from above-mentioned reality
The mode of applying limits, and on the premise of not departing from the spirit and scope of the utility model, the utility model also has various changes,
These changes and modifications are both fallen within claimed the scope of the utility model.The utility model requires protection scope is by appended
Claims and its equivalent thereof.
Claims (9)
1. a kind of subsea hydraulic perforation device, it is characterised in that slide company including support frame (1), with the support frame (1)
The hoistable platform (2) connect, the holding platform (3) and at least one feeler lever (4) that are fixedly connected with the support frame (1)；
The feeler lever (4) is slidably connected with the hoistable platform (2), and corresponding each feeler lever (4) is in the hoistable platform (2)
Upper setting clamping device (21), can clamp or unclamp the feeler lever (4)；
The feeler lever (4) is slidably connected with the holding platform (3), and corresponding each feeler lever (4) is in the holding platform (3)
Upper setting holding mechanism (31), can clamp or unclamp the feeler lever (4).
2. subsea hydraulic perforation device according to claim 1, it is characterised in that the clamping device (21) and the guarantor
It is identical to hold the structure of mechanism (31), the clamping device (21) includes：
Clamping jaw (211), two clamping jaws (211) are located at the feeler lever (4) both sides respectively；
Clamping cylinder (212), the clamping cylinder (212) corresponds with the clamping jaw (211) and sets, for driving the folder
Pawl (211) moves.
3. subsea hydraulic perforation device according to claim 2, it is characterised in that one end of the clamping jaw (211) and institute
Clamping cylinder (212) connection is stated, the other end and the feeler lever (4) of the clamping jaw (211) may be selected to contact, the clamping jaw
(211) it is the arcwall face with the feeler lever (4) cooperation close to the surface of the feeler lever (4).
4. according to claim 1-3 any one of them subsea hydraulic perforation devices, it is characterised in that further include driving mechanism
(5), for driving the hoistable platform (2) mobile, the driving mechanism (5) is oily including injection oil cylinder (51) and with the injection
The pulley assembly of cylinder (51) connection, the pulley assembly are connected with the hoistable platform (2).
5. subsea hydraulic perforation device according to claim 4, it is characterised in that the pulley assembly includes：
Top sheave component (52), it includes movable pulley (521) and three upper fixed pulleys (522), one end of the first wirerope (523)
Be fixedly connected with the hoistable platform (2), the other end of the first wirerope (523) successively around two upper fixed pulleys (522),
Upper movable pulley (521) and a upper fixed pulley (522) are fixed afterwards；
Downslide wheel assembly (53), it is symmetrical arranged with the top sheave component (52), and the downslide wheel assembly (53) includes lower dynamic
Pulley (531) and three lower fixed pulleys (532), one end of the second wirerope (533) are fixedly connected with the hoistable platform (2), the
The other end of two wireropes (533) is described lower fixed around two lower fixed pulleys (532), lower movable pulley (531) and one successively
Pulley (532) is fixed afterwards.
6. subsea hydraulic perforation device according to claim 5, it is characterised in that the pulley assembly passes through pulley bracket
(54) it is fixed in the support frame (1), the upper movable pulley (521) and the lower movable pulley (531) are mounted on dynamic cunning
On wheel support (55), the moving pulley bracket (55) is slidably connected with the pulley bracket (54), the injection oil cylinder (51)
Output terminal is connected with the moving pulley bracket (55).
7. subsea hydraulic perforation device according to claim 6, it is characterised in that the pulley assembly has two groups, two groups
The spaced and parallel setting of pulley assembly, two upper movable pulleys (521) are coaxially disposed.
8. according to claim 1-3 any one of them subsea hydraulic perforation devices, it is characterised in that the support frame (1)
On be provided with several guiding axis (22), the hoistable platform (2) is slidably connected with the guiding axis (22), the hoistable platform
(2) pilot hole (23) for wearing the guiding axis (22) is offered on, guide sleeve is provided with the pilot hole (23)
(24)。
9. according to claim 1-3 any one of them subsea hydraulic perforation devices, it is characterised in that the support frame (1)
Including several supporting rods (11), the bottom of the supporting rod (11) is provided with anti-settling disk (13), the anti-settling disk (13)
In bowl-shape, the supporting rod (11) is inserted into the anti-settling disk (13) and is fixedly connected with the anti-settling disk (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721341777.XU CN207336486U (en) | 2017-10-18 | 2017-10-18 | A kind of subsea hydraulic perforation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721341777.XU CN207336486U (en) | 2017-10-18 | 2017-10-18 | A kind of subsea hydraulic perforation device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107632121A (en) * | 2017-10-18 | 2018-01-26 | 中国海洋大学 | A kind of subsea hydraulic perforation device and method |
| CN109443322A (en) * | 2018-10-16 | 2019-03-08 | 中国海洋大学 | The automatic extension bar method in seabed and automatic recycling separation feeler lever method |
| CN112962562A (en) * | 2021-02-22 | 2021-06-15 | 浙江大学 | Double-penetration-mode submarine static sounding equipment |
-
2017
- 2017-10-18 CN CN201721341777.XU patent/CN207336486U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107632121A (en) * | 2017-10-18 | 2018-01-26 | 中国海洋大学 | A kind of subsea hydraulic perforation device and method |
| CN109443322A (en) * | 2018-10-16 | 2019-03-08 | 中国海洋大学 | The automatic extension bar method in seabed and automatic recycling separation feeler lever method |
| CN112962562A (en) * | 2021-02-22 | 2021-06-15 | 浙江大学 | Double-penetration-mode submarine static sounding equipment |
| CN112962562B (en) * | 2021-02-22 | 2022-06-14 | 浙江大学 | Double-penetration-mode submarine static sounding equipment |
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