CN107738737B - It can the fully transparent underwater manned latent device of observation of carrying type - Google Patents
It can the fully transparent underwater manned latent device of observation of carrying type Download PDFInfo
- Publication number
- CN107738737B CN107738737B CN201710954108.8A CN201710954108A CN107738737B CN 107738737 B CN107738737 B CN 107738737B CN 201710954108 A CN201710954108 A CN 201710954108A CN 107738737 B CN107738737 B CN 107738737B
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- manned
- skirt
- buoyancy material
- material shell
- connection framework
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Classifications
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- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/13—Hulls built to withstand hydrostatic pressure when fully submerged, e.g. submarine hulls
-
- 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
- B63G8/08—Propulsion
-
- 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
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
Can carrying type it is fully transparent it is underwater it is manned observe latent device, including the transparent manned capsule with docking skirt, the manned capsule cabin that docking skirt skirt mouth surrounds is equipped with personnel able to turn on or off and imports and exports；Manned capsule is enclosed with buoyancy material shell with the periphery for docking both skirt skirt mouths joint, a hollow housing is collectively formed by the outside wall surface of manned capsule and docking skirt that buoyancy material shell wraps up in buoyancy material shell, annular ballast tank, oxygen canister assembly, battery flat are equipped in hollow housing, annular ballast tank is located at the periphery of manned capsule with the outside wall surface for docking skirt joint, and oxygen canister assembly, battery flat are arranged in the space of annular ballast tank radial outside；Vertical thrusters are installed on hollow housing；Be crossed with connection framework above manned capsule, connection framework is symmetrically fixed on buoyancy material shell with the two sides docked skirt and be located at buoyancy material shell, the both ends of connection framework, manned capsule top be fixedly connected between connection framework；Horizontal propeller is symmetrically arranged in connection framework.
Description
Technical field
The present invention relates to underwater manned submersible technical fields, and in particular to the 360 degree of all-pass that can be equipped on underwater female ship
It is manned under permeable to observe latent device.
Background technique
Continuous exploration with the mankind to deep-sea field, deep-sea oil gas resource exploitation, living resources research, Large Underwater are made
Industry ship researching and designing work etc. deep-sea detectings research with apply deepen continuously, scientists and engineers be no longer satisfied in
It is past by means of unmanned remote controlled observation device to the close-ups in fixed point region, with greater need for comprehensive short distance on the spot in person
Underwater observation equipment.
Summary of the invention
The applicant improves for disadvantages mentioned above in the prior art, provides one kind and can satisfy and studies under water with ship
Equal staff's close-ups demand can carrying type be fully transparent underwater manned observes latent device.
Technical scheme is as follows:
Can carrying type it is fully transparent it is underwater it is manned observe latent device, including the manned capsule with docking skirt, manned capsule is transparency cabin
Body, the manned capsule cabin that docking skirt skirt mouth surrounds are imported and exported equipped with personnel, and personnel's inlet and outlet are closed by hatchcover sealing cover；It is manned
Cabin and the periphery for docking both skirt skirt mouths joint be enclosed with buoyancy material shell, and buoyancy material shell is wrapped up by buoyancy material shell
A hollow housing is collectively formed in manned capsule and the outside wall surface for docking skirt, and annular ballast tank, oxygen are equipped in the hollow housing
Canister assembly, battery flat, annular ballast tank are located at the periphery of manned capsule with the outside wall surface for docking skirt joint, oxygen canister assembly,
Battery flat is arranged in the space of annular ballast tank radial outside；Vertical thrusters are installed on the hollow housing；It is manned
It is crossed with connection framework above cabin, connection framework and the two sides docked skirt and be located at buoyancy material shell, the both ends of connection framework
It is symmetrically fixed on buoyancy material shell, is fixedly connected at the top of manned capsule with connection framework；Level is symmetrically arranged in connection framework to push away
Into device.
Its further technical solution are as follows:
The manned capsule is spherical cabin.
The manned capsule is made of organic glass is strengthened, and manned capsule inner wall is coated with anti-fog coating.
Two horizontal propellers are symmetricly set on the both ends of connection framework；Four are distributed along the circumference on buoyancy material shell
A vertical thrusters.
The oxygen canister assembly, battery flat quantity be two, two oxygen canister assemblies and two battery flats are in annular
It is arranged in space between ballast tank outside wall surface and buoyancy material inner walls face at parallelogram, four vertical thrusters point
It is not arranged in the four corners of the parallelogram.
Be equipped with pressure-air canister assembly in the buoyancy material shell, the oxygen canister assembly, battery flat quantity be respectively
One, two, an oxygen canister assembly, a pressure-air canister assembly and two battery flats annular ballast tank outside wall surface with
It is arranged in space between buoyancy material inner walls face at parallelogram, four vertical thrusters are arranged in described parallel
The four corners of quadrangle.
The connection framework is domes, and connection framework is equipped with multiple lightening holes.
The buoyancy material shell generally cirque structure, and the bottom of buoyancy material shell is the horizontal plane with middle through-hole
Plate, the top of buoyancy material shell are the tilting panel with middle through-hole, and the tilting panel is radially from middle part to outer lateral
Lower inclination.
Opening is equipped at the top of the manned capsule, the opening is closed by metal sealing cover board lid, metal sealing cover board and company
It connects frame to be fixedly connected, metal sealing cover board is equipped with emergency breather valve.
Multiple independent cabins are divided into inside the annular ballast tank.
Technical effect of the invention:
1, the present invention uses 360 ° of fully transparent manned capsules, can maximize observer visual angle, meet scientists and engineers
The demand of Undersea Scientific Expedition and operation research, and anti-fog coating is applied inside manned capsule organic glass, it can effectively reduce cold in cabin
Influence of the condensate mist to organic glass clarity.
2, annular ballast tank of the present invention, oxygen canister assembly, battery flat, pressure-air canister assembly these gravity are greater than
The side of a ship external equipment of buoyancy is arranged symmetrically in this in such a way that parallelogram (parallelogram is preferably rectangular) is arranged
The latent device bottom is invented, latent device stability is improved, improves latent device just floading condition.
3, floating, dive, advance, retrogressing and the revolution of the achievable latent device of the arrangement of propeller, has the present invention
Good mobility, and horizontal propeller installation site can adjust up and down height along connection framework, be installed on hydrodynamic force center,
Guarantee not generating inclination when latent device of the present invention moves forward and backward, stablizes floading condition.
4, the independent tank that multiple separations are set in annular ballast tank cabin can be by automatic that is, along the multiple water tanks of annular branch
Or manual ballast water regulating device multi-angle adjusts floading condition, including buoyancy adjustment and heel, trim regulating；Further pass through high pressure
The setting of air canister assembly with cooperate, can further adjust the posture of latent device of the present invention.
5, it is effectively secured under the premise of not destroying organic glass manned capsule across the connection framework above manned capsule
The top and bottom of manned capsule make manned capsule and external equipment link into an integrated entity, and ensure that the stability of structure.
The present invention is in addition to being applied to ocean scientific investigation or underwater operation, it can also be used to the emergency escape of staff in female ship,
It can also be used in going sightseeing under the following ocean water.
Detailed description of the invention
Fig. 1 is schematic view of the front view of the invention, and seat and computer console in manned capsule are shown in figure.
Fig. 2 is A-A cross-sectional view in Fig. 1, and connection framework and horizontal propeller are not shown in figure.
Fig. 3 is overlooking structure diagram of the invention.
Fig. 4 is side structure schematic view of the invention.
Fig. 5 is that the bottom view after buoyancy material shell is removed in Fig. 1.
Wherein: 1, manned capsule；101, personnel import and export；2, skirt is docked；3, hatchcover；4, buoyancy material shell；5, annular ballast
Water tank；6, oxygen canister assembly；7, battery flat；8, vertical thrusters；9, connection framework；901, lightening hole；10, horizontal propeller；
11, pressure-air canister assembly；12, metal sealing cover board；13, emergency breather valve；14, seat；15, computer console.
Specific embodiment
Specific embodiments of the present invention will be described below with reference to the accompanying drawings.
See Fig. 1, Fig. 2, Fig. 3, Fig. 4, the present invention includes the manned capsule 1 with docking skirt 2, and manned capsule 1 is transparent cabin, right
It connects 1 cabin of manned capsule that 2 skirt mouth of skirt surrounds and is equipped with personnel's inlet and outlet 101, personnel's inlet and outlet 101 pass through hatchcover 3 able to turn on or off
Sealing cover closes；Manned capsule 1 is enclosed with buoyancy material shell 4, manned capsule 1, docking skirt with the periphery for docking both 2 skirt mouths of skirt joint
2 and 4 three of buoyancy material shell be connected to one, buoyancy material shell 4,1 outside wall surface of manned capsule wrapped up by buoyancy material shell 4
And a hollow housing is collectively formed by the outside wall surface three for the docking skirt 2 that buoyancy material shell 4 wraps up, see Fig. 5, the hollow housing
It is interior to be equipped with annular ballast tank 5, oxygen canister assembly 6, battery flat 7, annular ballast tank 5 be located at manned capsule 1 with dock 2 the two of skirt
The periphery of the outside wall surface of joint, oxygen canister assembly 6, battery flat 7 are arranged in the space of annular 5 radial outside of ballast tank,
Specifically, oxygen canister assembly 6, battery flat 7 can be arranged in by way of balancing gravity annular 5 outside wall surface of ballast tank with it is described
In space between hollow housing outer ring inner wall, specifically, can the mode of balancing gravity refer to according to oxygen canister assembly 6 and battery
The quantity and total weight in cabin 7 are arranged in the radially opposite sides or surrounding or circumferential direction of manned capsule 1；It is installed on the hollow housing
Vertical thrusters 8；Connection framework 9 is crossed with above manned capsule 1, connection framework 9 is located at buoyancy material shell 4 with skirt 2 is docked
Upper and lower two sides, the both ends of connection framework 9 are symmetrically fixed on buoyancy material shell 4, and 1 top of manned capsule and connection framework 9 are fixed
Connection；Horizontal propeller 10 is symmetrically arranged in connection framework 9." upper and lower two sides " and " top " of the present invention, wherein downside
The side of the installation docking skirt 2 of manned capsule 1 is referred to, the side opposite with downside is upside, and top then refers in side direction
Top.Wherein, buoyancy material shell 4 itself is merely to generate positive buoyancy, and therefore, the hollow housing is not required for sealing
Shell, if guarantee to be mounted on the oxygen canister assembly 6 inside the hollow housing, battery flat 7, annular ballast tank 5 and under
The sides of a ship external equipments such as the pressure-air canister assembly 11 that text is recorded meet its own sealing requirements.
Specifically, the manned capsule 1 is spherical cabin, and manned capsule 1 is made of organic glass is strengthened, and strengthens organic glass
The indexs such as thickness calculated according to maximum diving depth, guarantee that high transparency, 1 inner wall of manned capsule are coated with anti-fog coating.It can
It effectively reduces and condenses influence of the water mist to organic glass clarity in cabin.
In the setting of propeller, two horizontal propellers 10 are symmetricly set on the both ends of connection framework 9；Buoyancy material shell
Four vertical thrusters 8, the achievable institute of the present invention of the arrangement of horizontal propeller 10 and vertical thrusters 8 are distributed along the circumference on 4
Floating, dive, advance, retrogressing and the revolution for stating latent device make the present invention have good mobility.
Latent device stability of the present invention is further increased, the first floading condition of latent device of the present invention, the oxygen tank group are improved
Part 6, battery flat 7 quantity be set as two, two oxygen canister assemblies 6 and two battery flats 7 are in annular 5 outside wall surface of ballast tank
It is arranged in space between 4 inner wall of buoyancy material shell at parallelogram, four vertical thrusters 8 are arranged in described
The four corners of parallelogram.
Further, in order to enable the annular ballast tank 5 can be used to adjust the floating of latent device of the present invention simultaneously
State is shown in Fig. 2, Fig. 5, and pressure-air canister assembly 11, the quantity point of oxygen canister assembly 6, battery flat 7 are equipped in buoyancy material shell 4
Not Wei one, two, 6, pressure-air canister assemblies 11 of an oxygen canister assembly and two battery flats 7 are in annular ballast tank
It is arranged in space between 4 inner wall of 5 outside wall surfaces and buoyancy material shell at parallelogram, four vertical thrusters 8 distinguish cloth
Set the four corners in the parallelogram.When carrying out the adjustment of floading condition, annular ballast tank 5 and pressure-air canister assembly
11 cooperate simultaneously, and to carry out pose adjustment be the mature prior art, i.e., annular ballast tank 5 and pressure-air canister assembly 11 it
Between be equipped with gas piping, annular ballast tank 5 is respectively equipped with water filling and discharge pipe line, gas piping, water injecting pipeline and drainpipe
Control valve is equipped on road (being not shown in figure), water injecting pipeline and discharge pipe line pass through crossing cabin part and stretch out buoyancy material shell 4,
During actual job, discharge pipe line is opened with gas piping, the high pressure gas in pressure-air canister assembly 11 is connected to and is discharged into ring
Shape ballast tank 5, under the action of being discharged into gas, annular ballast tank 5 is drained by discharge pipe line, to realize institute of the present invention
The increase of latent device buoyancy is stated, and opens discharge pipe line and water injecting pipeline, closes gas piping, the gas in annular ballast tank 5
Automatically can be floated the water injecting pipeline discharge passed through, water slowly be filled in annular ballast tank 5, to realize latent device of the present invention
The reduction of buoyancy, the change of the latent device vehicle buoyancy through the invention, to realize latent device floating of the present invention or dive
Change, further multiple independent cabins will be divided into inside annular ballast tank 5, by different separation cabin water fillings
And draining, it can be realized the change of the heel posture or trim posture of latent device of the present invention.
Further, to mitigate overall weight and enhancing structure stability, the connection framework 9 is domes, and is connected
Frame 9 is equipped with multiple lightening holes 901；The generally cirque structure of buoyancy material shell 4, and the bottom of buoyancy material shell 4 is band
The top of the horizontal panel of middle through-hole, buoyancy material shell 4 is the tilting panel with middle through-hole, and the tilting panel is in radial direction
On from middle part to outside in tilting down setting.
At the top of manned capsule 1 be equipped with opening, it is described opening by metal sealing cover board 12 lid close, metal sealing cover board 12 and even
It connects frame 9 to be fixedly connected, metal sealing cover board 12 is equipped with emergency breather valve 13, and the metal with emergency breather valve 13 is close
The setting of capping plate 12 both can be used as crossing cabin part arrangement area and use, and emergency escape and life can also be realized under emergency rating
It maintains, wherein when after latent device emergency floats up to out the water surface in rescue state, external rescue personnel can open the gold at top
Belong to seal cover board.It is achieved in the emergency escape of latent device internal staff of the present invention, on the other hand, is floated up in latent device emergency
When being in fallback state after the water surface out, the latent openable emergency breather valve 13 of device internal staff of the present invention is to maintain life in cabin
It supports.
The present invention passes through docking for conventional fixed docking skirt or rotary type docking skirt realization and underwater manned mother's ship, Gu
It is lifesaving and the common Underwater Docking Device of deep-sea space station that fixed pattern, which docks skirt or rotary type docking skirt, wherein rotating
Formula transfer skirt can be found in " Underwater Docking Device " disclosed in Chinese patent CN100494496C.
When work, driver and the scientist endured in company with the underwater manned work of large size or engineer can be by the underwater of routine
Docking facilities enter manned capsule 1 from docking skirt 2 and personnel's inlet and outlet 101, close hatchcover 3, Fig. 1, are equipped with seat 14 in manned capsule 1
It is discharged by Underwater Docking Device of the present invention latent after personnel occupy stably with the equal operational control units of computer console 15
Device；Driver has the cooperation of the annular ballast tank 5 and pressure-air canister assembly 11 of independently divided cabin by adjusting, can be right
The posture of latent device of the present invention is adjusted；Driver controls the direction of propulsion of two horizontal propellers 10, controllable hair
The bright latent device advances, retreats and turns round, controllable of the present invention by manipulating the direction of propulsion of four vertical thrusters 8
Latent device floating, dive leave for destination so that driving the present invention sails out of underwater female ship；After arriving at the destination, people in manned capsule 1
Member starts to carry out comprehensive scientific investigation observation or operation to observe and record, and the setting of 360 ° of fully transparent spherical manned capsules can be maximum
Change the observation visual angle for meeting staff, after the completion of scientific investigation observation or operation observation, driver drives the present invention and sails mother under return water
Ship simultaneously is completed to dock.
Above description is explanation of the invention, is not intended to limit the invention, and limited range of the present invention is referring to right
It is required that within protection scope of the present invention, any type of modification can be made.
Claims (10)
1. can carrying type it is fully transparent it is underwater it is manned observe latent device, including manned capsule (1), manned capsule (1) is transparent cabin, feature
Be: the manned capsule (1) with docking skirt (2), manned capsule (1) cabin that surrounds of docking skirt (2) skirt mouth be equipped with personnel into
It exports (101), personnel import and export (101) and closed by hatchcover (3) sealing cover；Manned capsule (1) connects with both skirt (2) skirt mouths are docked
The periphery at place is enclosed with buoyancy material shell (4), buoyancy material shell (4), the manned capsule (1) and right wrapped up by buoyancy material shell (4)
A hollow housing is collectively formed in the outside wall surface for connecing skirt (2), and annular ballast tank (5), oxygen tank group are equipped in the hollow housing
Part (6), battery flat (7), annular ballast tank (5) are located at the periphery of manned capsule (1) with the outside wall surface for docking skirt (2) joint,
Oxygen canister assembly (6), battery flat (7) are arranged in the space of annular ballast tank (5) radial outside；It is solid on the hollow housing
Equipped with vertical thrusters (8)；It is crossed with connection framework (9) above manned capsule (1), connection framework (9) distinguishes position with skirt (2) are docked
In the two sides of buoyancy material shell (4), the both ends of connection framework (9) are symmetrically fixed on buoyancy material shell (4), manned capsule (1) top
Portion is fixedly connected with connection framework (9)；Horizontal propeller (10) are symmetrically arranged in connection framework (9).
2. according to claim 1 can carrying type be fully transparent underwater manned observes latent device, it is characterised in that: the manned capsule
It (1) is spherical cabin.
3. according to claim 1 can carrying type be fully transparent underwater manned observes latent device, it is characterised in that: the manned capsule
(1) it is made of reinforcing organic glass, manned capsule (1) inner wall is coated with anti-fog coating.
4. according to claim 1 can carrying type be fully transparent underwater manned observes latent device, it is characterised in that: two levels
Propeller (10) is symmetricly set on the both ends of connection framework (9)；Four vertical propulsions are distributed along the circumference on buoyancy material shell (4)
Device (8).
5. according to claim 1 can carrying type be fully transparent underwater manned observes latent device, it is characterised in that: the oxygen tank group
Part (6), battery flat (7) quantity be two, two oxygen canister assemblies (6) and two battery flats (7) are in annular ballast tank
(5) it is arranged in the space between outside wall surface and buoyancy material shell (4) inner wall at parallelogram, four vertical thrusters (8)
It is arranged in the four corners of the parallelogram.
6. according to claim 1 can carrying type be fully transparent underwater manned observes latent device, it is characterised in that: the buoyancy material shell
Pressure-air canister assembly (11) are equipped in body (4), the oxygen canister assembly (6), battery flat (7) quantity be respectively one, two
It is a, an oxygen canister assembly (6), a pressure-air canister assembly (11) and two battery flats (7) annular ballast tank (5) outside
It is arranged in space between wall surface and buoyancy material shell (4) inner wall at parallelogram, four vertical thrusters (8) difference cloth
Set the four corners in the parallelogram.
7. according to claim 1 can carrying type be fully transparent underwater manned observes latent device, it is characterised in that: the connection framework
It (9) is domes, and connection framework (9) is equipped with multiple lightening holes (901).
8. according to claim 1 can carrying type be fully transparent underwater manned observes latent device, it is characterised in that: the buoyancy material shell
Body (4) generally cirque structure, and the bottom of buoyancy material shell (4) is the horizontal panel with middle through-hole, buoyancy material shell
(4) top is the tilting panel with middle through-hole, and the tilting panel is radially from middle part to being sloped downwardly outside.
9. according to claim 1 can carrying type be fully transparent underwater manned observes latent device, it is characterised in that: the manned capsule
(1) top is equipped with opening, and the opening is closed by metal sealing cover board (12) lid, metal sealing cover board (12) and connection framework
(9) it is fixedly connected, metal sealing cover board (12) is equipped with emergency breather valve (13).
10. according to claim 1 can carrying type be fully transparent underwater manned observes latent device, it is characterised in that: the annular pressure
It carries and is divided into multiple independent cabins inside water tank (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710954108.8A CN107738737B (en) | 2017-10-13 | 2017-10-13 | It can the fully transparent underwater manned latent device of observation of carrying type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710954108.8A CN107738737B (en) | 2017-10-13 | 2017-10-13 | It can the fully transparent underwater manned latent device of observation of carrying type |
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| Publication Number | Publication Date |
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| CN107738737A CN107738737A (en) | 2018-02-27 |
| CN107738737B true CN107738737B (en) | 2019-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710954108.8A Active CN107738737B (en) | 2017-10-13 | 2017-10-13 | It can the fully transparent underwater manned latent device of observation of carrying type |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2796434C1 (en) * | 2022-07-11 | 2023-05-23 | Общество с ограниченной ответственностью "Газпром трансгаз Санкт-Петербург" | Transparent hull of manned underwater vehicle |
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| CN108750053A (en) * | 2018-04-27 | 2018-11-06 | 青岛太平洋水下科技工程有限公司 | The long manned submariner device of tunnel underwater observation type |
| CN108750052A (en) * | 2018-04-27 | 2018-11-06 | 青岛太平洋水下科技工程有限公司 | The long manned submariner device of tunnel underwater operation type |
| CN110308734B (en) * | 2019-06-26 | 2022-05-31 | 哈尔滨工程大学 | Underwater robot navigation state adjusting liquid tank system, underwater robot and control method |
| CN110481738B (en) * | 2019-08-20 | 2022-04-05 | 哈尔滨工程大学 | Full-light-transmitting spherical manned cabin sightseeing submersible vehicle |
| CN112937808B (en) * | 2021-03-24 | 2022-04-12 | 中国船舶科学研究中心 | Deep sea in-situ manned experimental research platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| RU2157776C2 (en) * | 1996-05-29 | 2000-10-20 | Войсковая часть 20914 | Coupling device for submersible vehicle |
| RU2479463C1 (en) * | 2011-10-31 | 2013-04-20 | Федеральное государственное военное образовательное учреждение высшего профессионального образования "Военный учебно-научный центр Военно-Морского Флота "Военно-морская академия им. Адмирала Флота Советского Союза Н.Г. Кузнецова" | Lift-off rescue chamber |
| CN103085953B (en) * | 2013-02-19 | 2015-07-22 | 哈尔滨工程大学 | Submersible vehicle embedded type butting device |
| ES2938767T3 (en) * | 2013-09-12 | 2023-04-14 | Ian Sheard | underwater vessel |
| CN106882347B (en) * | 2017-02-27 | 2019-01-25 | 中国人民解放军海军工程大学 | Underwater robot with six degrees of freedom |
| CN106828840A (en) * | 2017-03-29 | 2017-06-13 | 重庆同利实业有限公司 | A kind of underwater sightseeing submersible |
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- 2017-10-13 CN CN201710954108.8A patent/CN107738737B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2796434C1 (en) * | 2022-07-11 | 2023-05-23 | Общество с ограниченной ответственностью "Газпром трансгаз Санкт-Петербург" | Transparent hull of manned underwater vehicle |
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| CN107738737A (en) | 2018-02-27 |
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