CN207225611U - A kind of unmanned plane sea landing platform power drive unit - Google Patents
A kind of unmanned plane sea landing platform power drive unit Download PDFInfo
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- CN207225611U CN207225611U CN201721176275.6U CN201721176275U CN207225611U CN 207225611 U CN207225611 U CN 207225611U CN 201721176275 U CN201721176275 U CN 201721176275U CN 207225611 U CN207225611 U CN 207225611U
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- air bag
- fixedly connected
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- speed regulating
- gear
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Abstract
A kind of unmanned plane sea landing platform power drive unit is the utility model is related to, driving device includes kuppe, speed regulating motor, propeller, steering motor and rudder stock；One end of rudder stock is fixedly connected with the output shaft of steering motor, and the other end is fixedly connected with speed regulating motor；The output shaft of speed regulating motor is fixedly connected with the paddle shaft of propeller；Kuppe is fixedly connected with speed regulating motor；Speed regulating motor, steering motor housing on be both provided with the air bag connected with motor cavity；The outside of air bag is provided with protective cover.The power drive unit of the utility model is provided with air bag, improve speed regulating motor and steering motor bears the intensity of deep sea pressure, the service life of air bag is extended, avoids air bag from can not bearing deep sea pressure or meet emergency case and damaged, and causes motor not work normally.The utility model steering structure is simple in structure, and highly reliable.
Description
Technical field
The utility model belongs to unmanned plane landing platform technology field, and in particular to a kind of unmanned plane sea landing platform moves
Force driving device.
Background technology
With the fast development of unmanned plane, unmanned plane play the role of in marine exploration field it is very big, can be quickly by sea
The data and athermal effect data in ocean pass sight chamber back, but are needed in detection process for a long time, using larger while high frequency time
The unmanned plane of quantity performs corresponding task.Unmanned plane needs to be filled by semi or flotation gear in operations offshore
Electricity or landing, semi or flotation gear need to move across the sea to coordinate the landing and operation of unmanned plane.
In water or the diving outfit of ocean operation, semi or flotation gear are required to driving device driving in water
In or ocean in move and to coordinate other device operations.In the prior art, manufactured according to the driving device principle of submarine
Although power drive unit can bear deep sea pressure during dive, its mechanism is complicated, and manufacture is of high cost, and researches and develops week
Phase is grown, can not popularity use.In addition, the steering structure of driving device is complicated, also can not generally use.
Chinese invention patent 2017102256410 discloses the side of a kind of immersible pump and control motor for submerged pump external and internal pressure
Method, by the motor cavity communicated air bags of motor, the gas in air bag is compressed and discharged to balance electricity between air bag and motor cavity
Machine cavity is simple for structure in the received pressure of deep water, but the specific mounting means and air bag of its undisclosed air bag is specific
Structure, can not ensure reliability of the air bag in deep water overpressure resistant；In addition, in the extreme environment of deep water, air bag service life is limited,
As air bag is damaged, then complete machine device can not work normally.
Utility model content
In order to solve, underwater engine driving device reliability existing in the prior art is low, service life is short and steering structure
The problem of complicated, the utility model provide a kind of unmanned plane sea landing platform power drive unit, have reliability height, energy
The deep-sea pressure that enough balance motors are subject to, and steering structure is simple, extends service life.Technology to be solved in the utility model
Problem is achieved through the following technical solutions：A kind of unmanned plane sea landing platform power drive unit, including it is installed in used in floating chamber
The driving device of lower section, the driving device include kuppe, speed regulating motor, propeller, steering motor and rudder stock；The one of rudder stock
End is fixedly connected with the output shaft of the steering motor, and the other end is fixedly connected with the speed regulating motor；The speed regulating motor
Output shaft is fixedly connected with the paddle shaft of the propeller；The kuppe is located at the outer of the propeller and the speed regulating motor
Portion and it is fixedly connected with the speed regulating motor；
The speed regulating motor, steering motor housing on be both provided with the air bag connected with motor cavity；Outside the air bag
Portion is provided with protective cover, and the protective cover is by protective shell and is arranged on the protection cap of protective shell bottom and forms, the protection cap with
The inner wall of protective shell is fixedly connected, and the protective shell is fixedly connected with the side wall of the housing；
The center of the protection cap offers inlet opening.
Further, the other end of the rudder stock is rotatably connected to gear-box, and gear-box is by being arranged on rudder stock
Limit stop ring carries out axial limiting；Gear-box is fixedly arranged on the top of the kuppe；
Diversion driving-gear is equipped with gear-box and turns to driven gear, diversion driving-gear is nibbled with turning to driven gear
Close, diversion driving-gear is fixedly connected with the rudder stock, is turned to driven gear and is fixedly connected with the speed regulating motor.
Further, the steering driven gear is ring gear, and its teeth portion is located on inner ring, the steering driven gear
Outer ring is equipped with the mounting portion extended downwardly, and mounting portion is fixedly connected with the speed regulating motor.
Further, the steering driven gear is sector.
Further, laser-correlation photoelectric limit switch, the hair of described two laser-correlation photoelectric limit switch are further included
The top that end is installed in the kuppe respectively is penetrated, the receiving terminal of laser-correlation photoelectric limit switch is arranged on the steering motor
Housing bottom, the position of the transmitting terminal and receiving terminal is corresponding, kuppe make during the motion it is described receive termination
Receive or disconnect the laser signal of the transmitting terminal transmitting.
Further, the air bag includes columned first utricule and the second hemispherical utricule, first utricule
It is integrally formed with the second utricule；First utricule is fixedly connected with the housing, and the first utricule is connected with the motor cavity.
Further, the air bag includes outer air bag, interior air bag and several support columns；
The support column is arranged between outer air bag and interior air bag, and one end of the support column is fixed with outer air bag and connected
Connect, the other end is fixedly connected with interior air bag.
Further, the support column is columned support column or ball, and multiple support columns are uniformly distributed
Between the outer air bag and interior air bag.
Further, it is provided with filter screen at the inlet opening.
The beneficial effects of the utility model：（1）The power drive unit of the utility model is provided with air bag and is located at gas
The rubber boot of the outside of capsule, improves speed regulating motor and steering motor bears the intensity of deep sea pressure, meanwhile, rubber protection
Cover plays a protective role air bag, extends the service life of air bag, avoids air bag from can not bearing deep sea pressure or meets burst feelings
Condition and it is damaged, and cause motor not work normally.
（2）The steering structure of the utility model is simple in structure, and highly reliable, by diversion driving-gear and turns to driven
Gear engagement is turned to, and improves the precision and stability of steering；In addition, steering structure manufacture cost is low, suitable for generally pushing away
It is wide to use.
（3）The utility model sets teeth portion by turning to the inner ring of driven gear, can save installation space, reduces driving
The volume of device and the quality of landing platform, it is easy to use to carry transport.
The utility model is described in further details below with reference to accompanying drawings and embodiments.
Brief description of the drawings
Fig. 1 is one example structure schematic diagram of power drive unit；
Fig. 2 is another example structure schematic diagram of power drive unit；
Fig. 3 is power drive unit steering structure structure diagram；
Fig. 4 is one example structure schematic diagram of air bag；
Fig. 5 is another example structure schematic diagram of air bag；
Fig. 6 is unmanned plane sea landing platform structure schematic diagram；
In figure：1st, kuppe；2nd, speed regulating motor；3rd, propeller；4th, steering motor；5th, diversion driving-gear；6th, turn to from
Moving gear；7th, rubber boot；8th, support column；9th, rudder stock；10th, protective shell；11st, air bag；12nd, the first utricule；13rd, the second capsule
Body；14th, the receiving terminal of laser-correlation photoelectric limit switch；15th, used in floating chamber；16th, protection cap；17th, inlet opening；18th, outer air bag；
19th, interior air bag.
Embodiment
For the technological means and effect that the utility model is reached predetermined purpose and taken is expanded on further, below in conjunction with attached drawing
And embodiment describes as follows specific embodiment of the present utility model, architectural feature and its effect in detail.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the invention and simplifies description, rather than instruction
Or imply that signified device or element must have specific orientation, with specific azimuth configuration and operation, therefore be not understood that
For the limitation to the invention.
In addition, term " first ", " second ", " the 3rd " etc. are only used for description purpose, and it is not intended that instruction or hint
Relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, the feature of " first ", " second " etc. is defined
It can express or implicitly include one or more this feature.In the description of the invention, unless otherwise indicated,
" multiple " are meant that two or more.
Term " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or removable
Connection is unloaded, or is integrally connected；Can mechanically connect or be electrically connected；It can be directly connected, can also be in
Between medium be indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, can pass through
Concrete condition understands concrete meaning of the above-mentioned term in the invention.
In order to solve, underwater engine driving device reliability existing in the prior art is low, service life is short and steering structure
The problem of complicated, as shown in Figure 1, the present embodiment provides a kind of unmanned plane sea landing platform power drive unit, power drive
Device is installed in the lower section of used in floating chamber 15, including kuppe 1, speed regulating motor 2, propeller 3, steering motor 4 and rudder stock 9, rudder stock 9
One end is fixedly connected with the output shaft of steering motor 4, and the other end leads to speed regulating motor 2 to be fixedly connected；Kuppe 1 is located at spiral
The outside of paddle 3 and speed regulating motor 2, and be fixedly connected with speed regulating motor；The output shaft of speed regulating motor 2 and the paddle shaft of propeller 3 are consolidated
Fixed connection；Steering motor 4 is arranged on the lower section of used in floating chamber 15 and is fixedly connected with used in floating chamber 15, and rudder stock 9 is arranged under steering motor 4
Side.Used in floating chamber 15 is equipped with the landing platform of unmanned plane, which can also be by increasing quality dive to deep ocean work.Work as drift
Buoyancy module 15 needs the landing for coordinating unmanned plane when floating across the sea, need used in floating chamber 15 to move at this time to coordinate unmanned plane to rise
Drop, drives propeller 3 by speed regulating motor 2, used in floating chamber 15 is moved across the sea, is adjusted and adjusted by remote control or controller
The rotating speed of speed motor 2, makes the rotating speed of propeller 3 change, and then controls the translational speed of used in floating chamber 15.When needing to turn to
When, steering motor 4 drives rudder stock 9 to rotate, so that the direction for driving speed regulating motor 2 overall changes, and then propeller 3 is existed
Axial direction deflects, and realizes the steering of used in floating chamber.The present embodiment steering structure is simple in structure, and steering structure manufacture cost is low, fits
Used in popularity.
Further, as shown in Fig. 2, the lower end of rudder stock 9 is connected with gear-box, gear-box is rotatablely connected with rudder stock 9, rudder stock
Limit shaft sleeve or limit stop ring can be installed with 9 axial direction of the gear-box in rudder stock 9 is subjected to spacing, limit shaft sleeve or limit stop ring
Two can be set, the upper and lower of gear-box top surface can be located at respectively, ball branch can be set between gear-box top surface and limit stop ring
Support member, to reduce frictional force when gear-box rotates.Diversion driving-gear 5 is equipped with gear-box and turns to driven gear 6, gear
Case is supported the gear in it, and diversion driving-gear 5 is engaged with turning to driven gear 6, diversion driving-gear 5 and rudder stock 9
Be fixedly connected, turn to driven gear 6 and be fixedly connected by shaft with speed regulating motor 2, or turn to driven gear 6 by mounting portion and
Speed regulating motor 2 is fixedly connected.Gear-box is located at the top of kuppe 1, and the output shaft and diversion driving-gear 5 of steering motor 4 are solid
Fixed connection, diversion driving-gear 5 are engaged with turning to driven gear 6, are turned to driven gear 6 and are fixedly connected with speed regulating motor 2, are turned to
Driving gear 5 is horizontally disposed with turning to the fluted disc of driven gear 6, and the fluted disc for turning to driven gear 6 is equipped with the peace extended downwardly
Dress portion, the mounting portion are fixedly connected through gear-box with speed regulating motor 2, which is rotatablely connected with gear-box.When needs turn
Xiang Shi, steering motor 4 drive diversion driving-gear 5 to work, and diversion driving-gear 5 drives steering driven gear 6 to rotate, so that band
The overall direction of dynamic speed regulating motor 2 changes, and then propeller is deflected in the axial direction, realizes the steering of used in floating chamber.
Further, as shown in figure 3, it is ring gear to turn to driven gear 6, and its teeth portion is located at inner ring.The annular of ring gear is outer
Circle is equipped with the mounting portion extended downwardly, and speed regulating motor 2 is fixedly arranged on mounting portion, and the inner ring of ring gear is equipped with teeth portion, turns to electricity
Machine 4 and diversion driving-gear 5 may be provided in the vertical space where the ring-shaped inner part of ring gear, save installation space, can be with
Reduce the size of all parts, it is compact-sized, so as to reduce the weight of power drive unit, it is convenient for carrying transport and use.
Further, driven gear 6 is turned to as sector, further reduces the size and weight of gear.Fan-shaped steering driven gear 6
Teeth portion on fan-shaped extrados or on intrados, engaged with active steering gear 5, when being engaged for external tooth, turn to from
Moving gear 6 can be fixedly connected by axis with speed regulating motor 2, when being engaged for internal tooth, turn to driven gear 6 outer ring be equipped with to
The mounting portion of lower extension, speed regulating motor 2 are fixedly arranged on mounting portion.
Further, two laser-correlation photoelectric limit switch, the hair of two laser-correlation photoelectric limit switch are further included
The top that end is installed in kuppe 1 respectively is penetrated, the receiving terminal 14 of laser-correlation photoelectric limit switch is arranged on the shell of steering motor 4
The position of the bottom of body, transmitting terminal and receiving terminal is corresponding, and kuppe 1 makes receiving terminal 14 receive or disconnect hair during the motion
Penetrate the laser signal of end transmitting.The position of receiving terminal 14 and transmitting terminal is corresponding, when receiving terminal 14 receives transmitting terminal transmitting
Laser when, the axial direction of propeller 3 is amidship to namely used in floating chamber is to continue with, along rectilinear movement, working as receiving terminal at this moment at this time
14 do not receive transmitting terminal transmitting laser when, used in floating chamber changing at this time moving direction occur divertical motion.It will receive
Signal or cut-off signal are transmitted to controller, by laser-correlation photoelectric limit switch can to the rudder of propeller 3 to direction into
Row instruction, so that the movement locus and route of clear and definite used in floating chamber 15.
As shown in Figure 4 and Figure 5, speed regulating motor 2, steering motor 4 housing on be both provided with the air bag connected with motor cavity
11；The housing of speed regulating motor 2 is equipped with the air bag 11 connected with motor cavity, and the housing of steering motor 4 is equipped with to be connected with motor cavity
Logical air bag 11, air bag 11 have two, and a sidepiece for being located at steering motor 4, another is located at the lower section of speed regulating motor 2.Gas
The outside of capsule 11 is provided with protective cover, and protective cover is made of with the protection cap 16 for being arranged on 10 bottom of protective shell protective shell 10, protects
Protecting cover 16 is fixedly connected with the inner wall of protective shell 10, and protective shell 10 is fixedly connected with the side wall of housing；Open at the center of protection cap 16
Equipped with inlet opening 17.Protective cover forms protective layer to air bag 11, avoids air bag 11 from being corroded under the extreme operating conditions at deep-sea
Or destroyed by marine organisms, extend service life.When used in floating chamber 15 needs dive to deep ocean work, power drive unit exists
Can be subject to deep sea pressure in deep-sea, when the pressure in motor cavity be less than motor cavity outside pressure when, seawater by inlet opening 17 into
Enter in protective shell 10, the pressure of seawater acts on air bag 11, and the gas in air bag 11 enters in motor cavity, realizes in motor cavity
Gas be compressed, make motor cavity external and internal pressure consistent；When the pressure in motor cavity is more than the pressure outside motor cavity, motor
The gas of intracavitary enters in air bag 11, and seawater discharges protective shell 10 by air bag 11, realizes and the gas in motor cavity is discharged,
Make motor cavity external and internal pressure consistent, the deep sea pressure that balanced speed-regulating motor 2 and steering motor 4 are subject to, prevents motor from being damaged at deep-sea
It is bad.Filter screen is provided with inlet opening 17, prevents the particulate matter in seawater from causing to damage to air bag 11 into protective shell 10.
An embodiment as shown in Figure 4, air bag 11 include the first utricule 12 and the second utricule 13, and the first utricule 12 is cylinder
Body, the second utricule 13 are hemisphere, and the first utricule 12 and the second utricule 13 are integrally formed；First utricule 12 is fixed with motor cavity to be connected
Connect.First utricule 12 is fixedly connected with motor cavity and communicated air bags 11 and motor cavity, when air bag 11 is fixedly mounted, the first utricule 12
For cylinder, the contact area of air bag 11 and motor cavity mounting surface is added, conveniently installs and installation is more firm, make air bag 11
It is hardly damaged or departs under the extreme operating conditions at deep-sea.
The air bag 11 of another embodiment as shown in Figure 5 includes outer air bag 18, interior air bag 19 and several support columns 8；Branch
Dagger 8 is arranged between outer air bag 18 and interior air bag 19, and one end of support column 8 is fixedly connected with outer air bag 18, the other end with
Interior air bag 19 is fixedly connected.Support column 8 is columned support column or ball, and multiple support columns 8 are evenly distributed on outer gas
Between capsule 18 and interior air bag 19.Support column 8 can avoid air bag and motor from receiving to the external pressure that air bag 11 is subject into row buffering
To compression shock.The support column 8 being uniformly arranged can make interior 19 uniform stressed of air bag, and further extend air bag 11 uses the longevity
Life.
The operation principle and the course of work of the utility model be：As shown in fig. 6, used in floating chamber on the water surface or sea move with
Coordinate unmanned plane to rise to drop on the landing platform on used in floating chamber, propeller 3 is driven by speed regulating motor 2, makes used in floating chamber 15 on sea
Upper movement, when needing to turn to, steering motor 4 drives diversion driving-gear 5 to work, and diversion driving-gear 5 drives steering driven
Gear 6 rotates, so that the direction for driving speed regulating motor 2 overall changes, and then propeller 3 is deflected in the axial direction, real
The steering of existing used in floating chamber.Used in floating chamber 15 is in moving process, when two laser-correlation photoelectric limit switch receiving terminals 14 receive
To transmitting terminal transmitting laser when, used in floating chamber be to continue with along rectilinear movement, when two receiving terminals 14 do not receive transmitting terminal hair
During the laser penetrated, used in floating chamber 15 is changing moving direction and divertical motion occurs at this time, can indicate the movement rail of used in floating chamber 15
Mark and route.When 15 dive of used in floating chamber is to deep ocean work, when the pressure in motor cavity is less than the pressure outside motor cavity, water
Pressure acts on air bag 11, and the gas in air bag 11 enters in motor cavity, realizes and the gas in motor cavity is compressed, make electricity
Machine cavity external and internal pressure is consistent；When the pressure in motor cavity is more than the pressure outside motor cavity, the gas in motor cavity enters air bag
In 11, realize and the gas in motor cavity is discharged, make motor cavity external and internal pressure consistent, balanced speed-regulating motor 2 and steering electricity
The deep sea pressure that machine 4 is subject to.
Above content is to combine specific preferred embodiment further detailed description of the utility model, it is impossible to
Assert that the specific implementation of the utility model is confined to these explanations.For the ordinary skill of the utility model technical field
For personnel, without departing from the concept of the premise utility, some simple deduction or replace can also be made, should all be regarded
To belong to the scope of protection of the utility model.
Claims (9)
- A kind of 1. unmanned plane sea landing platform power drive unit, it is characterised in that：The power drive unit includes water conservancy diversion Cover（1）, speed regulating motor（2）, propeller（3）, steering motor（4）And rudder stock（9）；Rudder stock（9）One end and the steering motor （4）Output shaft be fixedly connected, the other end and the speed regulating motor（2）It is fixedly connected；The speed regulating motor（2）Output shaft with The propeller（3）Paddle shaft be fixedly connected；The kuppe（1）It is located at the propeller（3）With the speed regulating motor（2） Outside and with the speed regulating motor（2）It is fixedly connected；The speed regulating motor（2）, steering motor（4）Housing on be both provided with the air bag connected with motor cavity（11）；The gas Capsule（11）Outside be provided with protective cover, the protective cover is by protective shell（10）Be arranged on protective shell（10）The protection cap of bottom （16）Composition, the protection cap（16）With protective shell（10）Inner wall be fixedly connected, the protective shell（10）With the housing Side wall is fixedly connected；The protection cap（16）Center offer inlet opening（17）.
- A kind of 2. unmanned plane sea landing platform power drive unit as claimed in claim 1, it is characterised in that：The rudder stock （9）The other end be rotatably connected to gear-box, and gear-box is by being arranged on rudder stock（9）On limit stop ring carry out axial limit Position；Gear-box and the kuppe（1）Top be fixedly connected,Diversion driving-gear is equipped with gear-box（5）With steering driven gear（6）, diversion driving-gear（5）With turning to driven tooth Wheel（6）Engagement, diversion driving-gear（5）With the rudder stock（9）It is fixedly connected, turns to driven gear（6）With the speed regulating motor （2）It is fixedly connected.
- A kind of 3. unmanned plane sea landing platform power drive unit as claimed in claim 2, it is characterised in that：The steering Driven gear（6）For ring gear, and its teeth portion is located on inner ring, the steering driven gear（6）Outer ring be equipped with extend downwardly Mounting portion, mounting portion and the speed regulating motor（2）It is fixedly connected.
- A kind of 4. unmanned plane sea landing platform power drive unit as claimed in claim 2 or claim 3, it is characterised in that：It is described Turn to driven gear（6）For sector.
- A kind of 5. unmanned plane sea landing platform power drive unit as claimed in claim 4, it is characterised in that：Further include sharp Light is installed in the kuppe respectively to penetrating photoelectric limit switch, the transmitting terminal of described two laser-correlation photoelectric limit switch （1）Top, the receiving terminal of laser-correlation photoelectric limit switch（14）It is arranged on the steering motor（4）Housing bottom, The transmitting terminal and receiving terminal（14）Position it is corresponding, kuppe（1）Make the receiving terminal during the motion（14）Receive Or disconnect the laser signal of the transmitting terminal transmitting.
- A kind of 6. unmanned plane sea landing platform power drive unit as claimed in claim 1, it is characterised in that：The air bag （11）Including columned first utricule（12）With the second hemispherical utricule（13）, first utricule（12）With the second utricule （13）It is integrally formed；First utricule（12）It is fixedly connected with the housing, and the first utricule（12）Connect with the motor cavity It is logical.
- A kind of 7. unmanned plane sea landing platform power drive unit as claimed in claim 1, it is characterised in that：The air bag （11）Including outer air bag（18）, interior air bag（19）With several support columns（8）；The support column（8）It is arranged on outer air bag（18）With interior air bag（19）Between, and the support column（8）One end and outer gas Capsule（18）It is fixedly connected, the other end and interior air bag（19）It is fixedly connected.
- A kind of 8. unmanned plane sea landing platform power drive unit as claimed in claim 7, it is characterised in that：The support Column（8）For columned support column or ball, and multiple support columns（8）It is evenly distributed on the outer air bag（18）With it is interior Air bag（19）Between.
- 9. a kind of unmanned plane sea landing platform power drive unit as any one of claim 6-8, its feature exist In：The inlet opening（17）Place is provided with filter screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721176275.6U CN207225611U (en) | 2017-09-13 | 2017-09-13 | A kind of unmanned plane sea landing platform power drive unit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721176275.6U CN207225611U (en) | 2017-09-13 | 2017-09-13 | A kind of unmanned plane sea landing platform power drive unit |
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| CN207225611U true CN207225611U (en) | 2018-04-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696984A (en) * | 2019-11-04 | 2020-01-17 | 浙江海洋大学 | Floating offshore gas station platform and stabilizing method thereof |
-
2017
- 2017-09-13 CN CN201721176275.6U patent/CN207225611U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696984A (en) * | 2019-11-04 | 2020-01-17 | 浙江海洋大学 | Floating offshore gas station platform and stabilizing method thereof |
| CN110696984B (en) * | 2019-11-04 | 2021-06-04 | 浙江海洋大学 | Floating offshore gas station platform |
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