CN107303944A - The emergent buoy mechanism of benthoscope and installation method - Google Patents
The emergent buoy mechanism of benthoscope and installation method Download PDFInfo
- Publication number
- CN107303944A CN107303944A CN201610259662.XA CN201610259662A CN107303944A CN 107303944 A CN107303944 A CN 107303944A CN 201610259662 A CN201610259662 A CN 201610259662A CN 107303944 A CN107303944 A CN 107303944A
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- China
- Prior art keywords
- buoy
- benthoscope
- electromagnet
- hawser
- framework
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- Pending
Links
- 238000009434 installation Methods 0.000 title claims description 10
- 238000000034 method Methods 0.000 title claims description 10
- 230000005347 demagnetization Effects 0.000 claims abstract description 46
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 14
- 238000007789 sealing Methods 0.000 claims description 8
- 229910052742 iron Inorganic materials 0.000 claims description 7
- 238000005538 encapsulation Methods 0.000 claims description 4
- 238000002156 mixing Methods 0.000 claims description 4
- 230000008034 disappearance Effects 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 238000005474 detonation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000016507 interphase Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- 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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/26—Means for indicating the location of underwater objects, e.g. sunken vessels
-
- 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)
- Laying Of Electric Cables Or Lines Outside (AREA)
Abstract
The emergent buoy mechanism of benthoscope that the present invention is provided, on benthoscope, has the feature that, including：Bottom framework, is inserted into the top of benthoscope；Rotating shaft, two ends are separately fixed at two sides of the intermediate symmetry of bottom framework；Reel, lateral edge is uniformly distributed a plurality of spacing holes, and the center of wheel hub is in rotating shaft；Electromagnet assembly, one end is fixed on the frame of bottom framework, and the other end is inserted into spacing hole；Hawser, one end is fixed on reel, is wrapped on wheel hub；Upper framework, is fixed with the top of bottom framework；And buoy, it is placed in framework, wherein, the other end of hawser with buoy with through bottom framework and upper framework, fixing, when electromagnet assembly is not powered on, being fixed in spacing hole, after electromagnet assembly demagnetization, skid off spacing hole.
Description
Technical field
The present invention relates to being met an urgent need buoy mechanism for benthoscope, more particularly to a kind of benthoscope is met an urgent need buoy mechanism and installation method.
Background technology
With human development ocean paces, miscellaneous submersible is occurred in that, there is manned underwater vehicle, unmanned submersible.Under nominal situation, submersible can manipulate dive according to preset program or aquanaut, float, battery is caused to exhaust if the absorption of seat bottom, winding occurs in submersible, or communication system failure, it is impossible to realize and positioned with surface communications, it is impossible to when the effective operation of progress is floated, submersible is accomplished by discharging emergent buoy, after buoy emerges, topside personnel can position to submersible, take corresponding rescue measure.Have at present and buoy is discharged using hydraulic means, also have using electric detonation bolt release buoy, but the former needs to be equipped with special hydraulic means and pipeline, and electric detonation bolt reliability is not high and blast process has damage to miscellaneous equipment.Meanwhile, the hawser being connected with buoy typically all takes snakelike disk in device, needs hawser longer for deep-submarine, and snakelike disk cable can not then meet the use requirement of deep-submarine.
The content of the invention
The present invention is carried out to solve the above problems, it is therefore intended that provide a kind of simple in construction, lightweight, the emergent buoy mechanism of the few benthoscope of power consumption and installation method.
The emergent buoy mechanism of benthoscope that the present invention is provided, on benthoscope, has the feature that, including：Bottom framework, is inserted into the top of benthoscope；Rotating shaft, two ends are separately fixed at two sides of the intermediate symmetry of bottom framework；Reel, lateral edge is uniformly distributed a plurality of spacing holes, and the center of wheel hub is in rotating shaft；Electromagnet assembly, one end is fixed on the frame of bottom framework, and the other end is inserted into spacing hole；Hawser, one end is fixed on reel, is wrapped on wheel hub；Upper framework, is fixed with the top of bottom framework；And buoy, it is placed in framework, wherein, the other end of hawser with buoy with through bottom framework and upper framework, fixing, when electromagnet assembly is not powered on, being fixed in spacing hole, after electromagnet assembly demagnetization, skid off spacing hole.
The emergent buoy mechanism of benthoscope that the present invention is provided, also has the feature that：Wherein, electromagnet assembly, has：Fixing shell, inside has groove；Energization demagnetization electromagnet, is fixed in groove；Spring, is sleeved on outside energization demagnetization electromagnet；Shell is slided, one end is provided with breach, be inserted in fixing shell, the other end is provided with cylinder boss, insertion spacing hole；Iron plate is encapsulated, is fixed with breach；Electrified wire, one end is connected on energization demagnetization electromagnet, and the other end is through fixing shell with sliding on cage connection to the control circuit of benthoscope；And oil-filled flexible pipe, it is wrapped in outside electrified wire.
The emergent buoy mechanism of benthoscope that the present invention is provided, also has the feature that, including：Bearing, installed in the two ends of rotating shaft.
The emergent buoy mechanism of benthoscope that the present invention is provided, also has the feature that, including：Wherein, seal groove is provided with the inside of fixing shell, electromagnet assembly also has：Sealing ring, loads in seal groove, with fixing shell, energization demagnetization electromagnet composition airtight cavity.
The emergent buoy mechanism of benthoscope that the present invention is provided, also has the feature that：Wherein, energization demagnetization electromagnet is placed in airtight cavity, when energization demagnetization electromagnet is not powered on, and the magnetic-adsorption of energization demagnetization electromagnet slides shell and holddown spring, after energization demagnetization electromagnet demagnetization, the screen resilience driving cylinder boss of spring skids off spacing hole.
The emergent buoy mechanism of benthoscope that the present invention is provided, also has the feature that：Wherein, buoy is connected with hawser there is provided buoyancy, when reel is pinned, and the buoyancy of buoy tenses hawser, when reel is unlocked, and the buoyancy of buoy pulls reel to release hawser, until buoy emerges.
The emergent buoy mechanism of benthoscope that the present invention is provided, also has the feature that, in addition to：Very high frequency(VHF) transmitter, installed in the upper surface of buoy；And stroboscopic lamp, installed in the upper surface of buoy.
The emergent buoy mechanism of benthoscope that the present invention is provided, also has the feature that：Wherein, very high frequency(VHF) transmitter, stroboscopic lamp are pressure sensitive self-tolerant, and self-contained power supply can be automatically turned on after the disappearance of extraneous hydraulic pressure.
The emergent buoy mechanism installation method of benthoscope that the present invention is also provided, on benthoscope, has the feature that, comprises the following steps：
Step one, electromagnet assembly is installed；
Step 2, one, hawser is connected with the wheel hub of reel, and then rule is wrapped on wheel hub, and bearing is arranged on to the two ends of wheel hub, after the bearing that rotating shaft is inserted to two ends, is inserted in bottom framework, is bolted the flange hole of rotating shaft and bottom framework；
Step 3, electromagnet assembly is attached to the side of bottom framework；
Step 4, upper framework is placed on above bottom framework and is connected, extract one end of hawser out, fixed through upper framework, buoy and buoy, buoy is placed in upper framework, hawser is tensed after electromagnet assembly is aligned with the positioning hole on the outside of reel side, inserts electromagnet assembly, one end of hawser is compressed, the rotation of reel is pinned；And
Step 5, very high frequency(VHF) transmitter and stroboscopic lamp are arranged on buoy, complete to install.
The emergent buoy mechanism installation method of benthoscope that the present invention is also provided, also has the feature that：Wherein, step one, in the corresponding seal groove that sealing ring is loaded to fixing shell, energization demagnetization electromagnet is inserted in fixing shell, blending bolt is fixed, spring housing is outside energization demagnetization electromagnet, shell is slided from opening during one end jaggy is inserted in fixing shell, drawn by the circular hole of slip shell, fixing shell is opened one end jaggy and is connected with encapsulation iron plate, and electrified wire passes through oil-filled flexible pipe.
Invention effect and effect
The emergent buoy mechanism of the benthoscope according to involved by the present embodiment, use the power on the combination of demagnetization electromagnet and spring, the use of less electricity is controllable energization demagnetization electromagnet demagnetization, the cylinder boss for sliding shell by Spring driving deviates from the spacing hole of reel, spool turns are pulled to release hawser by buoy natural buoyancy until buoy emerges, energization demagnetization electromagnet is inserted in oil-filled pressure compensation chamber, realize the simple light and handy of electromagnet pressure-resistance structure, reduce installation weight, hawser rule is wrapped on the reel with bearing, required cable laying power is small, it is long around cable length.
Brief description of the drawings
Fig. 1 is that benthoscope of the present invention in embodiment meets an urgent need buoy mechanism installed in benthoscope position view；
Fig. 2 is the axial arrangement schematic diagram of the emergent buoy mechanism of benthoscope of the present invention in embodiment；
Fig. 3 is the structural representation of electromagnet assembly of the present invention in embodiment；
Fig. 4 is the profile of electromagnet assembly of the present invention in embodiment；And
Fig. 5 is the profile of the emergent buoy mechanism of benthoscope of the present invention in embodiment.
Embodiment
Referring to the drawings and embodiment to benthoscope involved in the present invention meet an urgent need buoy mechanism be explained in detail.
As shown in figure 1, benthoscope is met an urgent need, buoy mechanism is inlayed on the benthoscope back side.
Fig. 2 is the axial arrangement schematic diagram of the emergent buoy mechanism of benthoscope of the present invention in embodiment.
As shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 5, bottom framework 1, rotating shaft 2, bearing 3, reel 4, electromagnet assembly 5, hawser 6, upper framework 7, buoy 8, very high frequency(VHF) transmitter 9 and stroboscopic lamp 10.
Bottom framework 1 is a cube, is inserted into the top of benthoscope.
The two ends of rotating shaft 2 are separately fixed at symmetrical two sides of interphase of bottom framework 1.Bearing 3 is arranged on the two ends of rotating shaft 2.
The lateral edge of reel 4 is uniformly distributed a plurality of spacing hole 4-1, and the center of wheel hub is rotated in rotating shaft 2.
One end of electromagnet assembly 5 is fixed on the frame of bottom framework 1, and the other end is inserted into spacing hole 4-1.Electromagnet assembly 5 has：Fixing shell 5-1, sealing ring 5-2, energization demagnetization electromagnet 5-3, spring 5-4, slip shell 5-5, encapsulation iron plate 5-6, electrified wire 5-7 and oil-filled flexible pipe 5-8.
Fixing shell 5-1 is fixed on the frame of bottom framework 1, and inside has groove, and the side of groove is provided with seal groove.Sealing ring 5-2 is embedded in its corresponding seal groove.
Energization demagnetization electromagnet 5-3 is inserted in fixing shell 5-1, and blending bolt is fixed in groove.Spring 5-4 is sleeved on outside energization demagnetization electromagnet 5-3.
Fixing shell 5-1, sealing ring 5-2, energization demagnetization electromagnet 5-3 composition airtight cavities.
The one end for sliding shell 5-5 is provided with breach, is inserted in fixing shell 5-1, and the other end is provided with cylinder boss 5-5-1, insertion spacing hole 4-1.
Encapsulation iron plate 5-6 opens one end jaggy with slip shell 5-5 and is connected by bolt with flange.
Electrified wire 5-7 one end is connected on energization demagnetization electromagnet 5-3, and the other end is connected on the control circuit of benthoscope through fixing shell 5-1 with sliding shell 5-5, for controlling energization demagnetization electromagnet 5-3 magnetic.
Oil-filled flexible pipe 5-8 is wrapped in outside electrified wire 5-7.Airtight cavity is filled with insulating oil by oil-filled flexible pipe 5-8 makes energization demagnetization electromagnet 5-3 be under pressure compensated insulation environment, and this fixing shell 5-1 is not required to consider deep sea pressure influence, and less structural strength can meet deep sea pressure requirement.
When energization demagnetization electromagnet 5-3 is not powered on, energization demagnetization electromagnet 5-3 magnetic-adsorption slides shell 5-5 and holddown spring 5-4.
After energization demagnetization electromagnet 5-3 demagnetizations, spring 5-4 screen resilience driving cylinder boss 5-5-1 skids off spacing hole 4-1.
The one end of hawser 6 is fixed on reel 4, is wrapped on wheel hub.
Upper framework 7 is placed on the top of bottom framework 1, is bolted being connected for framework 7 and bottom framework 1 in lower flange, realization.
Buoy 8 is placed in framework 7.Extract the other end of hawser 6, through the horn mouth 7a of upper framework 7, the through hole of buoy 8 and the circular hole of bolt out.Hawser 6 is tensed after slip shell 5-1 cylinder boss 5-5-1 is aligned with the spacing hole 4-1 of reel 3, bolt is tightened, is fixed with buoy 8, compress the end of hawser 6.
Buoy 8 is connected that there is provided buoyancy with hawser 6.When reel 4 is pinned, the buoyancy of buoy 8 tenses hawser 6；When reel 4 is unlocked, the buoyancy of buoy 8 pulls reel 4 to release hawser 6, until buoy 8 emerges.
Very high frequency(VHF) transmitter 9 and stroboscopic lamp 10 are arranged on the upper surface of buoy.
Very high frequency(VHF) transmitter 9 and stroboscopic lamp 10 are pressure sensitive self-tolerant, self-contained power supply.After buoy 8 emerges, very high frequency(VHF) transmitter 9 and stroboscopic lamp 10 can be automatically turned on after the disappearance of extraneous hydraulic pressure, send radio model and optical signal, so that the water surface searches buoy, positioning benthoscope position.
The emergent buoy mechanism installation method of benthoscope has steps of：
Step one：Electromagnet assembly 5 is installed.In the corresponding seal groove that sealing ring 5-2 is loaded to fixing shell 5-1, energization demagnetization electromagnet 5-3 is inserted in fixing shell 5-1, blending bolt is fixed, spring 5-4 is enclosed on outside energization demagnetization electromagnet 5-3, shell 5-5 is slided from opening during one end jaggy is inserted in fixing shell 5-1, is drawn by slip shell 5-6 circular hole, fixing shell 5-1 opens one end jaggy and is connected by bolt with encapsulating iron plate, electrified wire 5-6 passes through oil-filled flexible pipe 5-7, into step 2.
Step 2：6 one, hawser is connected with the wheel hub of reel 4, and then rule is wrapped on wheel hub, bearing 3 is arranged on after the two ends of wheel hub, the bearing 3 that rotating shaft 2 is inserted to two ends, is inserted in bottom framework 1, be bolted the flange hole of rotating shaft 2 and bottom framework 1, into step 3.
Step 3：Electromagnet assembly 5 is attached to the side of bottom framework 1, into step 4.
Step 4：Upper ledge 7 is placed on into the top of bottom framework 1 to be connected, being connected for framework 7 and bottom framework 1 in lower flange, realization is bolted.Extract one end of hawser 6 out, through the horn mouth of upper framework 7; through hole of buoy 8; circular hole of bolt, then buoy 8 is placed in upper framework, hawser 6 is tensed after electromagnet assembly 5 is aligned with the positioning hole on the outside of the side of reel 4; insertion electromagnet assembly 5; compress one end of hawser 6, the rotation of reel 4 is pinned, into step 5.
Step 5：Very high frequency(VHF) transmitter 9 and stroboscopic lamp 10 are arranged on buoy 8, complete to install.
The effect of embodiment and effect
The positioning of the complete deep marine settings in sea and communication and method according to involved by the present embodiment, use the power on the combination of demagnetization electromagnet and spring, the use of less electricity is controllable energization demagnetization electromagnet demagnetization, the cylinder boss for sliding shell by Spring driving deviates from the spacing hole of reel, spool turns are pulled to release hawser by buoy natural buoyancy until buoy emerges, energization demagnetization electromagnet is inserted in oil-filled pressure compensation chamber, realize the simple light and handy of electromagnet pressure-resistance structure, reduce installation weight, hawser rule is wrapped on the reel with bearing, required cable laying power is small, it is long around cable length.
Above-mentioned embodiment is the preferred case of the present invention, is not intended to limit protection scope of the present invention.
Claims (10)
- The buoy mechanism 1. a kind of benthoscope is met an urgent need, on benthoscope, it is characterised in that Including：Bottom framework, is inserted into the top of the benthoscope；Rotating shaft, two ends are separately fixed at two sides of the intermediate symmetry of the bottom framework；Reel, lateral edge is uniformly distributed a plurality of spacing holes, and the center of wheel hub is mounted in the rotating shaft On；Electromagnet assembly, one end is fixed on the frame of the bottom framework, and the other end is inserted into the limit In the hole of position；Hawser, one end is fixed on the reel, is wrapped on the wheel hub；Upper framework, is fixed with the top of the bottom framework；AndBuoy, is placed in the upper framework,Wherein, the other end of the hawser with described with through the bottom framework and the upper framework, floating Mark is fixed,When the electromagnet assembly is not powered on, it is fixed in the spacing hole,After the electromagnet assembly demagnetization, the spacing hole is skidded off.
- The buoy mechanism 2. benthoscope according to claim 1 is met an urgent need, it is characterised in that：Wherein, the electromagnet assembly, has：Fixing shell, inside has on groove, the frame for being fixed on the bottom framework；Energization demagnetization electromagnet, is fixed in the groove；Spring, is sleeved on outside energization demagnetization electromagnet；Shell is slided, one end is provided with breach, is inserted in the fixing shell, it is convex that the other end is provided with cylinder Platform, is inserted in the spacing hole；Iron plate is encapsulated, is fixed with the breach；Electrified wire, one end is connected on the energization demagnetization electromagnet, and the other end passes through the fixation Shell is slided on cage connection to the control circuit of the benthoscope with described；AndOil-filled flexible pipe, is wrapped in outside the electrified wire.
- The buoy mechanism 3. benthoscope according to claim 1 is met an urgent need, it is characterised in that also wrap Include：Bearing, installed in the two ends of the rotating shaft.
- The buoy mechanism 4. benthoscope according to claim 2 is met an urgent need, it is characterised in that also wrap Include：Wherein, seal groove is provided with the inside of the fixing shell,The electromagnet assembly, also has：Sealing ring, loads in the seal groove, with the fixing shell, the energization demagnetization electromagnet Constitute airtight cavity.
- The buoy mechanism 5. benthoscope according to claim 1 is met an urgent need, it is characterised in that：Wherein, the energization demagnetization electromagnet is placed in the airtight cavity,When the energization demagnetization electromagnet is not powered on, the magnetic-adsorption institute of the energization demagnetization electromagnet State slip shell and compress the spring,After the energization demagnetization electromagnet demagnetization, the screen resilience of the spring drives the cylinder boss Skid off the spacing hole.
- The buoy mechanism 6. benthoscope according to claim 1 is met an urgent need, it is characterised in that：Wherein, the buoy is connected there is provided buoyancy with the hawser,When the reel is pinned, the buoyancy of the buoy tenses the hawser,When the reel is unlocked, the buoyancy of the buoy pulls the reel to release the hawser, directly Emerged to the buoy.
- The buoy mechanism 7. benthoscope according to claim 1 is met an urgent need, it is characterised in that also wrap Include：Very high frequency(VHF) transmitter, installed in the upper surface of the buoy；AndStroboscopic lamp, installed in the upper surface of the buoy.
- The buoy mechanism 8. benthoscope according to claim 7 is met an urgent need, it is characterised in that：Wherein, the very high frequency(VHF) transmitter, the stroboscopic lamp are pressure sensitive self-tolerant, self-contained Power supply, can be automatically turned on after the disappearance of extraneous hydraulic pressure.
- The buoy mechanism installation method 9. a kind of benthoscope is met an urgent need, on benthoscope, it is special Levy and be, have steps of：Step one, electromagnet assembly is installed；Step 2, one, hawser is connected with the wheel hub of reel, and then rule is wrapped on the wheel hub, Bearing is arranged on to the two ends of the wheel hub, after the bearing that rotating shaft is inserted to two ends, underframe is inserted In frame, the flange hole of the rotating shaft and the bottom framework is bolted；Step 3, the electromagnet assembly is attached to the side of the bottom framework；Step 4, the upper framework is placed on above the bottom framework and is connected, the cable is extracted out One end of rope, fixes through the upper framework, the buoy and the buoy, the buoy is placed On described in framework, the hawser is tensed until the electromagnet assembly and reel side outside Positioning hole alignment after, insert the electromagnet assembly, compress one end of the hawser, pin described The rotation of reel；AndStep 5, very high frequency(VHF) transmitter and stroboscopic lamp are arranged on the buoy, complete to install.
- The buoy mechanism 10. benthoscope according to claim 1 is met an urgent need, it is characterised in that：Wherein, in the step one, the corresponding seal groove that sealing ring is loaded to fixing shell, it will be powered Demagnetization electromagnet is inserted in the fixing shell, and blending bolt is fixed, and spring housing is in the energization demagnetization Outside electromagnet, the slip shell is from opening during one end jaggy is inserted in the fixing shell, by described The circular hole for sliding shell is drawn, and the fixing shell is opened one end jaggy and is connected with encapsulation iron plate, leads to Electric lead passes through oil-filled flexible pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610259662.XA CN107303944A (en) | 2016-04-25 | 2016-04-25 | The emergent buoy mechanism of benthoscope and installation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610259662.XA CN107303944A (en) | 2016-04-25 | 2016-04-25 | The emergent buoy mechanism of benthoscope and installation method |
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| Publication Number | Publication Date |
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| CN107303944A true CN107303944A (en) | 2017-10-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610259662.XA Pending CN107303944A (en) | 2016-04-25 | 2016-04-25 | The emergent buoy mechanism of benthoscope and installation method |
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| Country | Link |
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| CN (1) | CN107303944A (en) |
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| CN108540226A (en) * | 2018-06-08 | 2018-09-14 | 上海海洋大学 | A kind of emergency communication buoyage and corresponding rescue mode |
| CN113247807A (en) * | 2021-05-11 | 2021-08-13 | 湖北蓝砚智能科技有限公司 | Automatic separation positioning communication device on underwater target |
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| CN113247807A (en) * | 2021-05-11 | 2021-08-13 | 湖北蓝砚智能科技有限公司 | Automatic separation positioning communication device on underwater target |
| CN113247807B (en) * | 2021-05-11 | 2022-10-21 | 湖北蓝砚智能科技有限公司 | Automatic separation positioning communication device on underwater target |
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Application publication date: 20171031 |